Departmental Papers (ESE)


In this paper a technique is presented for simulating a set of hybrid systems (agents) whose continuous dynamics are decoupled; however coupling is introduced in the form of constraints (inequalities whose violation signifies the occurrence of a discrete event). We introduce a step size selection algorithm, motivated by the control theoretic concept of Input/Output linearization, which allows two or more agents to be integrated asynchronously using different step sizes when the state is away from the constraint. When the state approaches a constriant, the algorithm is able to bring the two local time clocks into synchronization and localize the time of constraint violation. The algorithm is guaranteed to never miss or overshoot the constraints, eliminating the need for simulation roll-back.

Document Type

Conference Paper

Subject Area


Date of this Version

December 2001


Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 1, pages 780-785.

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Date Posted: 04 August 2005