Cyber-Physical Systems: A Model-Based Approach

Part I Core Concepts
	1 What is a Cyber-Physical System?
		1.1 Our Planet. Our Knowledge. Our Destiny
		1.2 Observe. Understand. Innovate
			1.2.1 Cyber-Physical Systems and Hybrid Systems
			1.2.2 Examples
			1.2.3 Computational vs. Physical Systems
			1.2.4 Biological and Intelligent Systems
		1.3 Developing New Products
		1.4 Is the Field of Cyber-Physical Systems New?
		1.5 What You Will Learn from This Book, and How
		1.6 A Writing Tip
		1.7 Chapter Highlights
		1.8 Study Problems
		1.9 Lab: Warm Up Exercises
		1.10 Project
		1.11 To Probe Further
	2 Modeling Physical Systems
		2.1 Reconnecting with the Physical World
		2.2 Conservation Laws
		2.3 Elements in Mechanical Systems
		2.4 Working in 2D and 3D
		2.5 Elements in Electrical Systems
		2.6 The Absence or Presence of Time in a Model
		2.7 Arithmetic Equations, and Linear and Non-linear Systems of Equations
		2.8 Where Different Numbers Come from
		2.9 Time-Dependent and Differential Equations
		2.10 Prototypes of Equations (That Will Recur Throughout the Book)
		2.11 Remarks on the Basic Machinery for Solving Differential Equations
		2.12 Chapter Highlights
		2.13 Study Problems
		2.14 Lab: Spring Bouncing and Object Creation
		2.15 Project: Mascot and Ping Pong Game
		2.16 To Probe Further
	3 Hybrid Systems
		3.1 Introduction
		3.2 Hybrid Automata
		3.3 Reset Maps
		3.4 Zero-Crossing
		3.5 Zeno Behavior
		3.6 Modeling Elastic Collision
		3.7 Chapter Highlights
		3.8 Avoid Common Mistakes
		3.9 Study Problems
		3.10 Lab: Discrete Bouncing
		3.11 Project: Speed-Based Player for Ping Pong Robot
		3.12 To Probe Further
	4 Control Theory
		4.1 Introduction
		4.2 Feedback Control
		4.3 Proportional Feedback Control
		4.4 Operational Amplifiers
		4.5 Multi-Dimensional Error and Proportional/Integral/Differential Feedback Control
		4.6 Chapter Highlights
		4.7 Study Problems
		4.8 Lab: Exploring Control
		4.9 Project: Acceleration-Based Player for Ping Pong Robot
		4.10 To Probe Further
	5 Modeling Computational Systems
		5.1 Introduction
		5.2 Quantization
		5.3 Discretization: How Fast Can Your Circuit Go?
		5.4 Detour: Boundedness of Digital Memory
		5.5 Detour: From Hardware to Software—Storing Executable Commands in Memory
		5.6 The Effect of Quantization and Discretization on Stability
		5.7 Abstract Modeling of Computational Effects
		5.8 Modeling Quantization
		5.9 Modeling Discretization
		5.10 Detour: Discretization, Sampling Rates, and Loss of Information
		5.11 The Effects of Quantization and Discretization Easily Compound
		5.12 Chapter Highlights
		5.13 Study Problems
		5.14 Lab: Stability Exercises
		5.15 Project: Quantization and Discretization
		5.16 To Probe Further
	6 Coordinate Transformation (Robot Arm)
		6.1 Introduction
		6.2 Coordinate Transformation
		6.3 Chapter Highlights
		6.4 Study Problems
		6.5 Lab: Coordinate Transformations
		6.6 Project: Spherical-Actuation for Ping Pong Robot
		6.7 To Probe Further
Part II Selected Topics
	7 Game Theory
		7.1 The Role of Game Theory in CPS Design
		7.2 Games, Players, Strategies, Utilities, and Independent Maximization
		7.3 Rationality, Independence and Strictly Dominant (or Dominated) Strategies
			7.3.1 The Independence Pattern
			7.3.2 The Cost of Lacking Communication and Trust Can Be Unbounded
		7.4 Coordination, Intelligence, and Nash Equilibrium
			7.4.1 The Coordination Pattern
			7.4.2 Nash Equilibrium
			7.4.3 Determining the Nash Equilibrium
			7.4.4 Eliminating Strictly Dominated Strategies Preserves Nash Equilibria
		7.5 Competitiveness, Privacy, Mixed Strategies
			7.5.1 Mixed Strategy Games
			7.5.2 Selecting a Mixed Strategy (or, Mixed Strategy Nash Equilibria)
		7.6 Chapter Highlights
		7.7 Study Problems
		7.8 To Probe Further
	8 Communications
		8.1 Communication, Certainty, Uncertainty, and Belief
		8.2 Messages: From Information to Representation
		8.3 Belief, Knowledge, and Truth
			8.3.1 Broader Implications
		8.4 Carrier Signal, Medium, and Link
		8.5 Link Characteristics
			8.5.1 Latency
			8.5.2 Bandwidth
			8.5.3 Reliability
		8.6 Fundamental Limits from Physics
		8.7 Limits Due to Component Dynamics
			8.7.1 Electrical Signal Transmission
			8.7.2 Variability in Component Parameters
			8.7.3 Light and Radio Transmission
		8.8 Limits Due to Noise
		8.9 Limits Due to Energy Dissipation
		8.10 Other Sources of Limitations
		8.11 Chapter Highlights
		8.12 Study Problems
		8.13 To Probe Further
	9 Sensing and Actuation
		9.1 Everyday Input and Output
		9.2 Symmetry: LEDs and Photo-Voltaic Cells
			9.2.1 Diodes
			9.2.2 The Photo-Voltaic Effect
			9.2.3 Transistors and Amplifiers
		9.3 Analog-to-Digital Conversion (ADC)
		9.4 Digital-to-Analog Conversion (DAC)
		9.5 Sensing Temperature
		9.6 Sensing Position
		9.7 Actuating Mechanical Systems
		9.8 Chapter Highlights
		9.9 Study Problems
		9.10 To Probe Further
	A Acumen Reference Manual
		A.1 Background
		A.2 The Acumen Environment and Graphical User Interface
		A.3 Basic Structure of An Acumen Model
		A.4 Model Parameters and the ``Initially\'\' and ``Always\'\' Sections
		A.5 Model Instantiation
		A.6 Expressions
			A.6.1 Variable Names
			A.6.2 Literals
			A.6.3 Vector and Vector Generators
			A.6.4 Matrices
			A.6.5 Summations
		A.7 Formulae
			A.7.1 Continuous Formulae
			A.7.2 If Formulae
			A.7.3 Match Formulae
			A.7.4 Discrete Formulae
			A.7.5 Foreach Formulae
			A.7.6 Collections of Formulae
		A.8 How a Model Is Simulated: Order of Evaluation
		A.9 Visualization Using the _3D Panel
			A.9.1 Colors
			A.9.2 Transparency
			A.9.3 Coordinate System
			A.9.4 Text
			A.9.5 Box
			A.9.6 Cylinders
			A.9.7 Cone
			A.9.8 Spheres
			A.9.9 OBJ Mesh Objects
			A.9.10 Default Values
			A.9.11 Composites
			A.9.12 Shapes, Their Parameters, and Their Default Values
			A.9.13 Animation = Dynamic _3D Values
			A.9.14 Manual Control of the View of the _3D Scene
			A.9.15 In-model Control of the View of the _3D Scene
			A.9.16 Camera View
		A.10 Built-In Functions
		A.11 Function Declarations
		A.12 Operator Precedence
		A.13 Simulator Settings
		A.14 Command Line Parameters
		A.15 Print to Standard Output (stdout) or Console
		A.16 BNF of Acumen
Index