Conference article

Dymola and Modelica_EmbeddedSystems in Teaching - Experiences from a Project Course

Johan Åkesson
Department of Automatic Control, Lund University, Sweden \ Modelon AB, Lund, Sweden

Ulf Nordström
Dassault Systèmes, Lund, Sweden

Hilding Elmqvist
Dassault Systèmes, Lund, Sweden

Download article

Published in: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009

Linköping Electronic Conference Proceedings 43:69, s. 603-611

Show more +

Published: 2009-12-29

ISBN: 978-91-7393-513-5

ISSN: 1650-3686 (print), 1650-3740 (online)


This contribution presents experiences from a master level project course where the Modelica-based tool Dymola; supporting embedded control system design; has been used. In a recent initiative; the Modelica language has been enhanced to support modeling of embedded systems and code generation targeted at micro processors.1 The new specification is supported by Dymola and enables wide range of design tasks to be performed in a unified framework. Such tasks include software in the loop simulation to test controller code in simulation; hardware in the loop simulation; and final deployment on the target. In the context of teaching; the new features of Modelica/Dymola enable universities to offer a realistic environment providing students with hands on experiences from model-based control system development.


Modelica; Dymola; Embedded Control Systems; Teaching


[1] Cervin; A.; Henriksson; D.; Lincoln; B.; Eker; J.; Årzén; K-E.: How Does Control Timing Affect Performance? Analysis and Simulation of Timing Using Jitterbug and TrueTime. IEEE Control Systems Magazine; 23:3 pp. 16-30; June 2003.

[2] Courses at Automatic Control:

[3] Pilato; C.; Collins-Sussman; B.; Fitzpatrick; B. (2008): Version Control with Subversion. O’Reilly Media; Inc.

[4] Trac webpage:

[5] Elmqvist; H.; Otter; M.; H.;Henriksson; D.; Thiele; B.;Mattson; S.E.: Modelica for Embedded Systems; Modelica Conference 2009.

[6] Lego Mindstorms webpage:

[7] NxtOSEK webpage:

[8] HiTechnic webpage:

[9] Mindsensors webpage:

Citations in Crossref