This library is based on the following references:

Aström K.J., Wittenmark B. (1997):

Computer Controlled Systems: Theory and Design. Prentice Hall. 3rd edition.
 

Elmqvist H., Otter M., and Mattsson S.E. (2012):

Fundamentals of Synchronous Control in Modelica. Proceedings of 9th International Modelica Conference, Munich, Germany, Sep. 3-5.
 

Otter M., Thiele B., and Elmqvist H. (2012):

A Library for Synchronous Control Systems in Modelica. Proceedings of 9th International Modelica Conference, Munich, Germany, September 3-5.
 

Walther N. (2002):

Praxisgerechte Modelica-Bibliothek für Abtastregler. Diplomarbeit, HTWK Leipzig, Fachbereich Elektro- und Informationstechnik, supervised by Prof. Müller (HTWK) and Prof. Martin Otter (DLR), 12 Nov. 2002.
 

The synchronous Modelica language elements allow for the first time to utilize a continuous-time, nonlinear, inverse model in a Modelica sampled-data system, by automatically discretizing this model and providing it as a clocked partition. This allows a convenient definition of certain nonlinear control systems, see example Examples.Systems.ControlledMixingUnit. Several practical details to use nonlinear inverse plant models in a control system are discussed in the following reference:

Looye G., Thümmel M., Kurze M., Otter M., and Bals J. (2005):

Nonlinear Inverse Models for Control. Proceedings of 4th International Modelica Conference, ed. G. Schmitz, Hamburg, March 7-8. Download.
 

The synchronous Modelica language elements used in this library are based on the clock calculus and inference system proposed by (Colaco and Pouzet 2003) and implemented in Lucid Synchrone version 2 and 3 (Pouzet 2006). However, the Modelica approach also uses multi-rate periodic clocks based on rational arithmetic introduced by (Forget et. al. 2008), as an extension of the Lucid Synchrone semantics. These approaches belong to the class of synchronous languages (Benveniste et. al. 2002):

Benveniste A., Caspi P., Edwards S.A., Halbwachs N., Le Guernic P., and Simone R. (2003):

The Synchronous Languages Twelve Years Later. Proceedings of the IEEE, Vol., 91, No. 1. Download.
 

Colaco J.-L., and Pouzet M. (2003):

Clocks as First Class Abstract Types. In Third International Conference on Embedded Software (EMSOFT'03), Philadelphia, Pennsylvania, USA, October 2003. Download.
 

Forget J., F. Boniol, D. Lesens, C. Pagetti (2008):

A Multi-Periodic Synchronous Data-Flow Language. In 11th IEEE High Assurance Systems Engineering Symposium (HASE'08), Dec. 3-5 2008, Nanjing, China, pp. 251-260. Download.
 

Pouzet M. (2006):

Lucid Synchrone, Version 3.0, Tutorial and Reference Manual. Download.