On the Use of UML for Modeling Mechatronic Systems

This paper describes a modeling language that aims to provide a unified framework for representing control systems, namely, physical plants coupled with computer-based control devices. The proposed modeling methodology is based on the cardinal principle of object orientation, which allows describing both control software and physical components using the same basic concepts, particularly those of capsules, ports, and protocols. Furthermore, it is illustrated how the well-known object-oriented specification language unified modeling language can be adopted, provided an adequate formalization of its semantics, to describe structural and behavioral aspects of control systems, related to both logical and physical parts.