Hi!

I just wonder what approaches exists to implement Software In the Loop for Control System Design application. I want OpenModelica to model Plant while Code for Controller is implemented as C(C++) routines.
I thought external C Functions would help but seems they have some restrictions such that they should obey reference transparancy property ie return the same values for the same inputs (should not have internal states).

Thanks in advance!

Hi!
I have a question about hard stops in Modelica.Mechanics.Translational.Components.MassWithStopAndFriction.
As I can understand mass should not move outside interval (smin, smax)
But it actually does in my example that I include here:

model ActuatorMechanics
  Modelica.Mechanics.Translational.Sources.Force force;
  Modelica.Mechanics.Translational.Components.MassWithStopAndFriction mass(m=1,F_prop=0,F_Coulomb=10, smax=0.1, smin=0, L=0.01);
  Modelica.Mechanics.Translational.Components.Spring spring(c=1000);
  Modelica.Mechanics.Translational.Components.Fixed fixed;
  Modelica.Mechanics.Translational.Sensors.PositionSensor sens_pos;
equation
  connect(force.flange, mass.flange_a);
  connect(mass.flange_b, spring.flange_a);
  connect(spring.flange_b, fixed.flange);
  connect(sens_pos.flange, mass.flange_a);
  force.f = 100;
end ActuatorMechanics;

Am I doing something wrong?