This information is part of the Modelica Standard Library maintained by the Modelica Association.

This library is based on the following references:

[Astrom2008]	K.J. Aström, B. Wittenmark, Computer Controlled Systems: Theory and Design, 3rd ed.: Prentice Hall, 1997.
[Elmqvist2012]	H. Elmqvist, M. Otter, S.E. Mattsson, "Fundamentals of Synchronous Control in Modelica," In Proceedings of 9th International Modelica Conference, Munich, Germany, Sep. 3-5, 2012. DOI:10.3384/ecp1207615.
[Otter2012]	M. Otter, B. Thiele, S.E. Mattsson, "A Library for Synchronous Control Systems in Modelica," In Proceedings of 9th International Modelica Conference, Munich, Germany, Sep. 3-5, 2012. DOI:10.3384/ecp1207627.
[Walther2002]	N. Walther, "Praxisgerechte Modelica-Bibliothek für Abtastregler," Diplomarbeit, HTWK Leipzig, Fachbereich Elektro- und Informationstechnik, supervised by Prof. Müller (HWTK) and Prof. Martin Otter (DLR), 12 Nov. 2002.

The synchronous Modelica language elements allow for the first time to utilize a continuous-time, nonlinear, inverse model in a Modelica sampled-data system, by automatically discretizing this model and providing it as a clocked partition. This allows a convenient definition of certain nonlinear control systems, see example Examples.Systems.ControlledMixingUnit. Several practical details to use nonlinear inverse plant models in a control system are discussed in the following reference:

[Looye2005]

G. Looye, M. Thümmel, M. Kurze, M. Otter, and J. Bals, "Nonlinear Inverse Models for Control", In Proceedings of 4th International Modelica Conference, Hamburg, Germany, Mar. 7-8, 2005. Download.

The synchronous Modelica language elements used in this library are based on the clock calculus and inference system proposed by [Colaco2003] and implemented in Lucid Synchrone version 2 and 3 [Pouzet2006]. However, the Modelica approach also uses multi-rate periodic clocks based on rational arithmetic introduced by [Forget2008], as an extension of the Lucid Synchrone semantics. These approaches belong to the class of synchronous languages [Benveniste2003]:

[Benveniste2003]	A. Benveniste, P. Caspi, S.A. Edwards, N. Halbwachs, P. Le Guernic, and R. Simone, "The Synchronous Languages Twelve Years Later," In Proceedings of the IEEE, Vol., 91, No. 1, 2003. Download.
[Colaco2003]	J.-L. Colaco, and M. Pouzet, "Clocks as First Class Abstract Types," In Third International Conference on Embedded Software (EMSOFT'03), Philadelphia, Pennsylvania, USA, October 2003. Download.
[Forget2008]	J. Forget, F. Boniol, D. Lesens, C. Pagetti, "A Multi-Periodic Synchronous Data-Flow Language," In 11th IEEE High Assurance Systems Engineering Symposium (HASE'08), pp. 251-260, Nanjing, China, Dec. 3-5, 2008. Download.
[Pouzet2006]	M. Pouzet, "Lucid Synchrone, Version 3.0, Tutorial and Reference Manual". Download.