Adapting parallel DEVS semantics to FMI 3.0 co-simulation using synchronous clocks

Simulating cyber-physical systems (CPSs) often requires integrating continuous dynamics, typically described by differential equations, with discrete-event dynamics that represent the behavior of embedded controllers. Version 3.0 of the functional mock-up interface (FMI) standard introduces synchronous clocks and a discrete-event mode, creating new opportunities for the co-simulation of hybrid systems. So far, it has not been demonstrated that these features can faithfully capture the semantics of discrete-event formalisms such as the discrete-event system specification (DEVS) and its extension, parallel DEVS (PDEVS). This leaves open the question of whether FMI 3.0 can effectively support complex hybrid dynamics. This paper addresses this gap by showing how PDEVS models can be exported and coupled as FMI 3.0 functional mock-up units (FMUs) while preserving PDEVS semantics. We first derive requirements that any simulator must satisfy to correctly preserve PDEVS semantics. Based on these requirements, we present a systematic mapping of PDEVS abstract simulator functions to the FMI 3.0 interface with synchronous clocks and present an orchestration algorithm to co-simulate multiple PDEVS FMUs accordingly. The approach is validated using an adaptive cruise control case study, where our FMI-based co-simulation reproduces the results of an established PDEVS simulator. To support reproducibility and further research, we provide an open-source prototype together with the complete validation setup.