To be truly reconfigurable, machine tools constructed of machine modules require controllers constructed of control modules with the same level of granularity as the machine modules. The lowest-level control modules must contain both continuous servo control interacting with the mechanical hardware module via continuous-time signals, as well as discrete logic control interacting with other control modules. This paper shows how the verification of these hybrid system can be achieved by abstracting the continuous dynamics of a low-level control module into a suitable discrete-event interface.
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