Global hybrid model

• Implementation of subsystems:
  • inherit SwitchableSystem
  • are constructed graphically
  • identify state variables within graphical model, e.g.

    • state[1] = pi/2 - revolute.phi;
      state[2] = -revolute.w;

• Is this a hybrid decomposition?
  • it looks like one
  • submodels can be created graphically and independently
  • formally: maximal state space approach
    • variables of inactive system ignored or derivatives set to zero
    • they always exist and enlarge the total state space
  • practically
    • Modelica compilers routinely handle systems with lots of trivial equations
    • should not be a large burden