CPS-Sim: Co-Simulation for Cyber-Physical Systems with Accurate Time Synchronization

Abstract We present a framework for performing accurate numerical simulations of cyber-physical systems, called the Cyber-Physical Systems Co-Simulator (CPS-Sim). It is realized by coordinating Matlab/Simulink as the physical system simulator and QualNet (or OMNeT++) as the communication network simulator. Since these simulators operate under different time managements (periodic versus event-based sampling), the key feature of CPS-Sim consists in their synchronization. Its efficacy is demonstrated by using a distributed algorithm in wireless sensor networks for clock synchronization.