On the precise and efficient representation of industrial controllers in Modelica

This paper highlights some still-open issues in theModelica representation of industrial controllers,particularly when simulation efficiency must balance withfidelity to their real-world implementation as digitalcomponents of cyber-physical systems. The treatise focuseson PID controllers due to their predominant role, thoughthe ideas readily extend to virtually any other controlstructure. The aim is to stimulate discussion around thisimportant yet often overlooked topic, while also suggestingdirections for future development.