Tool Overview

RTSIM [Palopoli et al., 2002; Lipari, 2003b] is a tool that is aimed at simulating realtime embedded control systems. The main goal is to facilitate co-simulation of realtime controllers and controlled plants in order to evaluate the timing properties of the architecture in terms of control performance. The tool consists of a collection of C++ libraries and uses the mathematical library OCTAVE [Eaton, 1998] for the continuous plant simulation. The libraries allow the user to specify; a set of plants, the functional controller behavior, the implementation architecture, and a mapping of functional behavior onto the architectural components.
The simulation model is constructed based on this separation between functional behavior and the HWSW architecture, see Figure 22.
The functional design involves controller operations such as extracting sensor data and computing control signals. It also produces timing constraints based on the closed-loop dynamics. The architectural design involves specifying a model of entities such as software tasks, schedulers and network protocols. The functional design is mapped onto the architectural design and the timing constraints are translated into
real-time constraints.
The simulation produces results related both to the real-time performance and the control performance. This includes the generation of execution traces, real-time statistics (e.g., delays and jitter), and control performance metrics such as time responses and quadratic costs.

More information on RTSIM (p.55)

RTSIM website

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