Peter Fritzson, PhD, is Professor and Research Director of the Programming Environment Laboratory within IDA, Linköping University, Sweden. Prof. Fritzson is also Director of the Open Source Modelica Consortium, Director of the MODPROD Center for Model-Based Product Development, and Vice Chairman of the Modelica Association, all organizations he helped to establish. Previously, he has served as Chairman of the Scandinavian Simulation Society, Secretary of EuroSim, and a Project Leader at Sun MicroSystems California.

Preface v

About the Author v

About this Book v

Reading Guide vi

Acknowledgements vii

Contributions to Examples ix

Contributors to the Modelica Standard Library, Version 3.2.1 xii

Contributors to the Modelica Standard Library, Versions 1.0 to 2.1 xiii

Contributors to the Modelica Language, Version 3.3 xiii

Contributors to the Modelica Language, Version 3.2 xiv

Contributors to the Modelica Language, Version 3.0 xv

Contributors to the Modelica Language, Version 2.0 xvi

Contributors to the Modelica Language, up to Version 1.3 xvi

Modelica Association Member Companies and Organizations 2013 xvii

Funding Contributions xviii

Part I Introduction 1

Chapter 1 Introduction to Modeling and Simulation 3

Chapter 2 A Quick Tour of Modelica 19

Part II The Modelica Language 79

Chapter 3 Classes, Types, Declarations, and Lookup 81

Chapter 4 Inheritance, Modifications, and Generics 137

Chapter 5 Components, Connectors, and Connections 189

Chapter 6 Literals, Operators, and Expressions 269

Chapter 7 Arrays 313

Chapter 8 Equations 349

Chapter 9 Algorithms and Functions 423

Chapter 10 Packages 497

Chapter 11 Annotations, Units, and Quantities 521

Part III Modeling and Applications 567

Chapter 12 Cyber-Physical System Modeling Methodology 569

Chapter 13 Discrete Events, Hybrid and Embedded System Modeling 593

Chapter 14 Basic Laws of Nature 747

Chapter 15 Application Examples 795

Chapter 16 Modelica Library Overview 909

Part IV Technology and Tools 977

Chapter 17 A Mathematical Representation for Modelica Models 979

Chapter 18 Techniques and Research 993

Chapter 19 Environments 1029

Appendix A Glossary 1063

Appendix B Modelica Formal Syntax 1071

Appendix C Solutions to Exercises 1083

Appendix D Modelica Standard Library Samples 1093

Appendix E Modelica and Python Scripting 1123

Appendix F Related Equation-Based Object Oriented Modeling Languages 1153

Appendix G FMI - Functional Mockup Interface 1163

G.1 Summary 1163

G.2 Overview 1164

G.3 FMI for Model Exchange 1168

G.4 FMI for Co-Simulation 1169

G.5 Literature 1172

References 1175

Index 1197