D.A. van Beek, S.H.F. Gordijn, J.E. Rooda
Using simulation models for the development and testing of control systems can have significant advantages over using real machines. This paper demonstrates the suitability of the Chi language for modelling, simulation and control of manufacturing machines. The language integrates a small number of powerful orthogonal continuous-time and discrete-event concepts. The continuous-time part of Chi is based on DAEs; the discrete-event part is based on a CSP-like concurrent programming language. Models are specified in a symbolic mathematical notation. A case study is presented of a transport system consisting of conveyor belts.
Simulation Practice and Theory, vol. 5, 653-669, 1997.