HyAuLib: Modelling Hybrid Automata in Modelica

A library of components for modelling hybrid automata in a natural fashion has been implemented in Modelica. This library exploits and extends the free Modelica library StateGraph to the modelling and simulation of deterministic hybrid systems described by the hybrid automaton formalism. In this contribution, the library’s main features are described and its flexibility highlighted by developing models for two classic hybrid systems literature examples