A Survey of Modeling Approaches for Embedded Computer Control Systems

Model-based system development emphasizes the usage of models throughout the development process. In such an approach, modeling becomes of central importance, forming a basis for documentation, communication, decision-making, and design automation. As this design paradigm becomes gradually adopted for the development of embedded computer control applications, new modeling requirements become apparent. This work presents a survey of current modeling approaches that attempt to meet some of these needs. A framework for characterizing, comprehending and comparing the different approaches is developed, focusing on the modeling content and features that are specific to model-based development. In addition, the associated representation techniques and tool support are studied. The framework is presented together with lessons learned. The framework combines generic concepts of systems with modeling concepts extracted from a study of twelve modeling approaches covering different levels of design and disciplines. This approach ensures that many aspects of the modeling and development process are covered, resulting in a framework that is quite reasonable and practical for comprehending and comparing the studied approaches. The survey helped discover common concepts and patterns, as well as unique ones, which will be the basis for further refinement of the framework. This refinement process will also be supported through the introduction of additional modeling approaches in the survey from the various domains of mechanical, control and computer engineering. This work is part of a larger effort to define a modeling approach suitable for complex embedded control systems.