Zero Stability in Hierarchical Co-Simulation

This work presents investigations on zero-stability of hierarchical co-simulation methods with an arbitrary number of co-simulation levels. In comparison to traditional co-simulation, where all participating systems are coordinated by a single co-simulation, hierarchical co-simulation allows the introduction of further co-simulations on several levels beneath a top-level co-simulation. This way, individual macro step sizes and orchestration algorithms may be used on every level. In this paper, we investigate the implications of the introduction of such a hierarchy, which may extend to an arbitrarily chosen number of levels, on the important convergence property of zero stability.