modeling and simulation with major applications in virtual prototyping of complex cyber-physical systems, which mix physical system dynamics with software (cyber) and networks. It is bringing about a revolution in this area, based on its ease of use, visual design of models with combination of lego-like predefined model building blocks, its ability to define model libraries with reusable components, its support for modeling and simulation of complex applications involving parts from several application domains, and many more useful facilities. To draw an analogy—Modelica is currently in a similar phase as Java early on, before the language became well known, but for virtual prototyping instead of Internet programming.

This book teaches modeling and simulation of cyber-physical systems and gives an introduction and complete overview of the Modelica language to people who are familiar with basic programming concepts. It gives a basic introduction to the concepts of cyber-physical systems, modeling and simulation, equation-based object-oriented modeling, as well as the basics of object-oriented component-based modeling for the novice, and a comprehensive overview of modeling and simulation in a number of application areas. In fact, the book has several goals:

·         Being a useful textbook in introductory courses on modeling and simulation of cyber-physical systems.

·         Being easily accessible for people who do not previously have a background in modeling, simulation and object orientation.

·         Introducing the concepts of cyber-physical modeling, object-oriented modeling, and component-based modeling.

·         Providing a complete yet informal reference for the Modelica 3.3 language including the new synchronous features for embedded system modeling.

·         Demonstrating modeling examples from a wide range of application areas.

·         Being a reference guide for the most commonly used Modelica libraries.

·         Introducing requirement driven model-based system design and verification.

·         Giving an introduction to numeric and symbolic techniques used in current Modelica tools.

The book contains many examples of models in different application domains, as well as examples combining several domains. However, it is not primarily intended for the advanced modeler who, for example, needs additional insight into modeling within very specific application domains, or the person who constructs very complex models where special tricks may be needed. 

All examples and exercises in this book are available in an electronic self-teaching material called DrModelica, based on this book, which gradually guides the reader from simple introductory examples and exercises to more advanced ones. All of this teaching material can be freely downloaded from the book web site within www.openmodelica.org. This site also includes the downloadable free open source tool OpenModelica for modeling and simulation, which is the tool primarily used in this book.

Moreover, the web site contains additional (teaching) material related to this book. The Modelica Standard Library 3.2.1 release August 2013 is used for the examples in this book. The main web site for the Modelica and Modelica libraries, including the most recent versions, is the Modelica Association website, www.Modelica.org.

This second edition describes improvements and updates of the Modelica language up to Modelica 3.3. revision 1, including synchronous clocked constructs, examines basic concepts of cyber-physical, equation-based, object-oriented system modeling and simulation. The Modelica class concept and its use in graphical and textual modeling is introduced together with several hundred examples from many application areas and explores modeling methodology for continuous, discrete, and hybrid systems; and more.