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Model-based design

Model-based design (MBD) is an engineering methodology that utilizes mathematical models and simulations as the primary artifacts for designing, analyzing, simulating, verifying, and implementing complex dynamic systems, such as control systems, signal processing applications, and embedded software.^[1]^[2] This approach emphasizes the systematic integration of models throughout the entire development lifecycle, from requirements specification to deployment, to enable early detection of issues, automated code generation, and seamless traceability.^[1] Unlike traditional document-centric methods, MBD treats models as executable specifications that can be simulated to predict system behavior before physical implementation.^[2] The MBD process typically follows a V-model workflow, beginning with high-level system modeling and requirements capture, progressing through detailed design and iterative simulation, and concluding with integration, testing, and validation against real-world hardware.^[2] Engineers create models at varying levels of abstraction—ranging from behavioral to hardware-specific—to explore design alternatives, perform virtual prototyping, and conduct worst-case analyses.^[2] Tools like MATLAB and Simulink facilitate this by supporting model execution, data analysis, and automatic code generation for deployment on embedded targets.^[3] This iterative cycle ensures continuous verification, reducing the need for late-stage hardware revisions.^[1] Key benefits of MBD include shortening development cycles by 50% or more through automation of testing, coding, and reporting tasks, while minimizing manual errors and hardware iterations.^[1] It enhances functional safety by enabling extensive virtual testing and compliance with standards like ISO 26262 in safety-critical applications.^[2] Additionally, MBD lowers overall costs by facilitating predictive maintenance via digital twins and supports interdisciplinary collaboration through shared, visual models.^[1] MBD finds extensive application in industries requiring high reliability and complexity, including automotive for advanced driver-assistance systems and software-defined vehicles, aerospace for flight control software, and industrial automation for motion control and robotics.^[4]^[5] It is also employed in consumer electronics and medical devices to accelerate innovation while ensuring robust performance.^[6]

Fundamentals

Definition and Scope

Model-based design (MBD) is an engineering methodology that employs executable models to capture system requirements, enabling simulation, analysis, and automated code generation throughout the development lifecycle, in contrast to traditional manual coding from textual specifications.^[1] This approach shifts the focus from document-based descriptions to dynamic, verifiable models that serve as the central artifacts for design exploration and implementation.^[7] The scope of MBD primarily encompasses the development of complex, multidisciplinary systems, including embedded software for real-time applications, control systems in automotive and aerospace domains, and integrated hardware-software architectures where reliability and performance are critical. It emphasizes early-stage verification and validation through simulation to detect and mitigate errors before physical prototyping, thereby reducing development costs and time-to-market in environments with stringent safety and efficiency demands.^[7] MBD differs from model-driven architecture (MDA) in software engineering, which prioritizes automated transformations between platform-independent and platform-specific models to generate deployable code, whereas MBD integrates simulation-driven design more holistically for engineering systems.^[8] This methodology emerged in the late 20th century as a response to the escalating complexity of systems requiring integrated modeling and automation.^[9]

Core Principles

Model-based design (MBD) is grounded in several foundational principles that enable engineers to develop complex systems efficiently and reliably. These principles emphasize the use of executable models as the central artifact throughout the design process, promoting early analysis, refinement, and assurance of system behavior without relying solely on physical prototypes or hand-coded implementations. By focusing on models rather than documents or code as the primary means of communication and development, MBD facilitates a shift from traditional code-centric approaches to a more integrated, simulation-driven workflow.^[1] The principle of executability requires that models be simulatable to predict and analyze system behavior prior to implementation. In MBD, models serve as executable specifications that allow engineers to perform rapid simulations, test scenarios, and iterate on designs in a virtual environment, thereby identifying issues early and reducing the need for costly hardware iterations. This executability ensures that models are not merely descriptive but actively used to validate functional requirements through deterministic execution, supporting repeatable tests and exploration of design alternatives.^[1]^[10] Abstraction levels in MBD involve creating hierarchical models that progress from high-level behavioral specifications to detailed implementation representations. High-level models capture overall system dynamics and requirements using simplified constructs, while lower-level models incorporate platform-specific details such as timing and resource constraints. This layered approach allows teams to manage complexity by focusing on relevant aspects at each stage, ensuring traceability and consistency across abstractions without overwhelming detail in early phases.^[1]^[10] Iterative development is a core tenet of MBD, involving continuous refinement of models through cycles of simulation, testing, and validation. Engineers simulate models to evaluate performance, incorporate feedback from tests, and refine designs incrementally, often achieving development cycle reductions of 50% or more by automating repetitive tasks. This principle supports agile practices, enabling parallel work on subsystems and rapid response to changes in requirements or discoveries during simulation.^[1]^[11] The separation of concerns principle directs models toward defining system functionality independently of implementation details, with automatic code generation addressing platform-specific aspects such as hardware interfaces and optimization. By decoupling functional intent from low-level coding, MBD allows domain experts to focus on algorithm design while tools handle translation to deployable code, minimizing errors from manual translation and enhancing reusability across projects. This approach aligns with standards like AUTOSAR, where functional models remain agnostic to execution platforms.^[1]^[12]^[13] Verification and validation (V&V) are integrated into MBD through model execution, enabling early detection of design flaws via systematic simulation and testing. Models undergo verification to confirm they implement intended designs correctly and validation to ensure they meet stakeholder requirements, often using automated tools for coverage analysis and traceability reporting. This built-in V&V process shifts testing from late-stage code reviews to continuous model assessments, improving overall system reliability and compliance with safety standards like ISO 26262.^[14]^[15]

Historical Development

Origins in Engineering

The roots of model-based design trace back to the mid-20th century in control theory and systems engineering, where engineers began using mathematical models to represent and analyze complex dynamic systems. During the 1940s and 1950s, advancements in feedback control, including frequency-response methods and Bode diagrams, enabled the design of linear control systems through graphical representations like block diagrams, which visualized signal flows and system interactions. These techniques originated in wartime applications, such as servomechanisms for military equipment, and evolved into foundational tools for systems engineering by the 1960s.^[16] In aerospace, analog computing played a pivotal role, with engineers employing analog devices to simulate differential equations for aircraft dynamics and guidance systems, as seen in early flight simulators developed from the 1940s onward.^[17] A key precursor to modern model-based design was the development of simulation languages in the 1960s, which formalized the use of executable models for continuous systems. The Continuous System Simulation Language (CSSL), standardized in 1967 by the Simulation Councils, Inc. (SCI), provided a unified syntax for describing block diagrams, transfer functions, and differential equations on digital computers, bridging analog simulation practices with emerging computational capabilities. This language allowed engineers to write simulatable code that mirrored engineering diagrams, reducing reliance on physical prototypes and manual calculations. The transition from document-based to model-based approaches accelerated in the 1970s as digital computers became more accessible, enabling the creation of simulatable representations that could be iteratively tested and refined. Mainframe systems during this era supported the shift from static drawings and paper specifications to dynamic models, particularly in control system design, where software began to automate simulation of complex behaviors previously handled by analog hardware.^[17] This evolution was driven by the need for precision in high-stakes environments, laying the groundwork for executability as a core principle. Initial adoption of these model-based techniques occurred primarily in military and space applications, where system reliability was paramount and errors could be catastrophic, well before their integration into broader software engineering practices. In the Apollo program, hybrid analog-digital simulations were extensively used from the 1960s to verify guidance and navigation systems, ensuring mission-critical performance through repeated model executions on early computers.^[18] Similarly, military projects leveraged control theory models for weapon systems and avionics, prioritizing verifiable simulations over empirical testing alone.^[16]

Key Milestones and Evolution

The 1980s marked the beginning of modern advancements in model-based design through the emergence of foundational software tools that shifted engineering practices toward computational modeling. MATLAB was first released as a commercial product in 1984 by MathWorks, offering an interactive environment for numerical computing and matrix operations that supported early simulation efforts in control systems and signal processing.^[19] This tool's capabilities enabled engineers to prototype algorithms more efficiently than traditional hand-coding methods. The 1990s saw accelerated growth in model-based design, particularly in the automotive sector, where it was adopted for developing engine control systems and other embedded applications requiring precise simulation. Simulink, introduced by MathWorks in 1992, provided a graphical block-diagram interface for modeling multidomain dynamic systems, allowing visual representation and rapid iteration that streamlined the design-to-implementation pipeline.^[19] Complementing this, automatic code generation tools like Real-Time Workshop—later evolved into Embedded Coder—emerged in the mid-1990s, automating the translation of high-level models into production-ready C code and significantly reducing manual programming errors in real-time applications. Standardization in the 2000s further solidified model-based design as a mainstream methodology across industries. The AUTOSAR consortium was established in 2003 by automotive manufacturers and suppliers to define a standardized software architecture, promoting reusable, model-driven components for vehicle electronics and enhancing interoperability.^[20] In 2006, the Object Management Group released SysML version 1.0, a modeling language extending UML specifically for systems engineering, which facilitated precise specification, analysis, and verification of complex systems through standardized diagrams. From the 2010s to the present, model-based design has matured with a focus on safety and agility, expanding into safety-critical domains while adapting to modern development paradigms. The publication of ISO 26262 in 2011 introduced a risk-based framework for functional safety in automotive electrical/electronic systems, driving the integration of verification and validation processes directly into model-based workflows to meet ASIL requirements.^[21] Concurrently, practices evolved to incorporate agile methodologies and DevOps pipelines, enabling continuous integration, testing, and deployment of models for faster feedback loops in iterative engineering.^[22] By the 2020s, up to 2025, innovations such as AI-assisted model generation have automated parameter tuning and behavioral modeling using machine learning, while cloud-based simulation environments have supported scalable, collaborative execution of large-scale models, further enhancing efficiency in distributed teams.^[23]^[24]

Methodology

Primary Steps

Model-based design follows a structured, repeatable workflow that integrates system development from initial specifications to final deployment, emphasizing traceability to ensure that each design element links back to original requirements. This process is typically linear in sequence but iterative in practice, allowing refinements at any stage based on analysis or testing outcomes to improve accuracy and performance.^[3]^[10] The first step involves requirements capture, where system specifications are translated into high-level behavioral models that represent the desired functionality and performance criteria in an executable form. This phase establishes a formal foundation by converting textual or informal requirements into structured representations, facilitating early validation against stakeholder needs.^[3]^[25] Next, modeling entails creating detailed executable models of the system, often using block diagrams to depict signal flows or state machines to capture dynamic behaviors and transitions. These models serve as the central artifact, enabling precise representation of algorithms, control logic, and interactions without immediate commitment to hardware or code.^[3]^[10] Simulation and analysis then occur, where the models are executed under various scenarios to verify expected behavior, identify discrepancies, and detect potential issues such as timing errors or instability. This step leverages computational tools to perform rapid iterations, assessing system responses to inputs and environmental conditions before physical prototyping.^[3]^[25] Code generation follows validation, automatically producing implementation code—such as C or HDL—from the refined models to ensure fidelity between design intent and executable software. This automation minimizes manual coding errors and supports deployment on target platforms like embedded controllers.^[3]^[10] Finally, integration and testing deploy the generated code onto hardware, incorporating hardware-in-the-loop (HIL) simulations to evaluate real-world interactions while iterating on any observed deviations. This phase confirms system-level compliance through comprehensive verification, closing the loop back to requirements for traceability.^[25]^[3] Visually, the workflow can be represented as a linear cycle with feedback arrows indicating iteration points, starting from requirements and looping through modeling, simulation, code generation, and testing, with traceability lines connecting each step to the originating specifications.^[10]

Modeling and Simulation Techniques

Graphical modeling in model-based design employs block diagrams to represent continuous and discrete systems visually, where blocks denote system components such as integrators, gains, or delays, and lines indicate signal flows between them.^[26] This approach facilitates the depiction of dynamic behaviors through interconnected modules, enabling engineers to model physical processes like mechanical vibrations or electrical circuits without initial code generation. For instance, a continuous system might use differential equation blocks to simulate fluid dynamics, while discrete systems incorporate sample-and-hold elements for digital signal processing.^[26] State-based modeling utilizes finite state machines (FSMs) to capture event-driven behaviors, defining system states, transitions triggered by events or conditions, and associated actions.^[27] In model-based design, FSMs are particularly effective for modeling reactive systems, such as supervisory controllers that switch modes based on sensor inputs, ensuring precise representation of discrete logic alongside continuous dynamics.^[28] Hierarchical FSMs allow nesting of states to manage complexity, supporting parallel state execution for concurrent behaviors in embedded applications.^[27] Simulation in model-based design encompasses deterministic and stochastic types, alongside time-domain and frequency-domain analyses, to validate model fidelity. Deterministic simulations produce repeatable outputs for given inputs, ideal for verifying nominal system responses in control loops.^[29] Stochastic simulations incorporate randomness, such as noise in sensor models, to assess robustness under uncertainty, often using Monte Carlo methods for statistical evaluation.^[30] Time-domain analysis simulates transient responses over time, revealing step responses or stability margins, whereas frequency-domain methods, like Bode plots, evaluate steady-state characteristics and bandwidth limits through linear approximations.^[31] A fundamental example in control systems is the transfer function G(s) = \frac{Y(s)}{U(s)}, which relates output Y(s) to input U(s) in the Laplace domain; for simulation, it is converted to time-domain differential equations and solved numerically using methods like the fourth-order Runge-Kutta integrator.^[32] To manage complexity in large-scale models, techniques such as model composition, partitioning, and reuse libraries are employed. Model composition integrates subsystems hierarchically, allowing independent development and connection via well-defined interfaces to form complete architectures.^[33] Partitioning divides models into modular segments, such as functional or spatial decompositions, to parallelize simulation and analysis while minimizing interdependencies.^[34] Reuse libraries curate validated components, like standard filters or actuators, promoting consistency and reducing development time across projects through parameterized templates.^[35]

Tools and Technologies

Prominent Software Tools

MATLAB and Simulink, developed by MathWorks, form a cornerstone of model-based design with their block diagram environment for multidomain simulation and graphical system modeling. Simulink enables engineers to create and simulate dynamic systems using drag-and-drop blocks, supporting continuous and discrete-time modeling for applications in control systems and signal processing. It facilitates automatic certified code generation for embedded targets, reducing development time by up to 50% through automation of implementation and testing workflows. Additionally, Simulink integrates with requirements management tools for traceability and scales to large projects via staged adoption, including support for Agile and DevOps practices.^[1]^[36] Stateflow, integrated within the Simulink ecosystem, specializes in modeling reactive behaviors and complex decision logic using finite state machines, flow charts, state transition tables, and truth tables. This graphical language allows for hierarchical state diagrams that capture event-driven control, with features like animations for execution visualization, breakpoints for debugging, and pattern wizards for rapid development of common logic structures. Stateflow supports code generation in languages such as C, C++, VHDL, and Verilog, enabling seamless deployment in embedded systems while integrating with Simulink for hybrid continuous-discrete simulations.^[37] LabVIEW from National Instruments employs a dataflow-based graphical programming paradigm, particularly through its Control Design and Simulation Module, to support model-based control design for measurement and automation applications. It provides virtual instruments (VIs) for system identification, controller synthesis, and simulation of linear time-invariant (LTI) and nonlinear plant models, including time- and frequency-domain analysis with complex inputs. LabVIEW facilitates rapid control prototyping and hardware-in-the-loop simulations on real-time targets like PXI or CompactRIO, integrating with data acquisition hardware for real-world signal handling and deployment to embedded controllers.^[38] dSPACE systems focus on hardware-in-the-loop (HIL) testing to validate model-based designs for electronic control units (ECUs) in a simulated vehicle environment, bridging simulation and physical hardware integration. These platforms offer scalable configurations from component-level to full-vehicle simulations, supporting bus communications like CAN FD, FlexRay, and Automotive Ethernet, as well as cybersecurity testing protocols such as SecOC and IPsec. dSPACE enables automated, reproducible testing with real-time I/O interfaces, reducing validation efforts by incorporating real components like sensors and actuators for early fault detection in control software.^[39] Ansys SCADE Suite provides a synchronous, model-based environment tailored for developing safety-critical embedded software, emphasizing graphical dataflow and hierarchical state machine modeling for avionics and other high-integrity domains. Its certified KCG code generator produces qualified code compliant with DO-178C Level A, IEC 61508 SIL 3, and ISO 26262 ASIL D, supporting multicore execution and formal verification through static analysis and proof engines. SCADE integrates with tools like Simulink and AUTOSAR for interoperability, offering end-to-end traceability and simulation capabilities to detect issues early in the design cycle.^[40] Modelica-based tools support equation-based, acausal modeling for multidomain physical systems in model-based design, enabling reusable component libraries for mechanical, electrical, thermal, and hydraulic simulations. Dymola, developed by Dassault Systèmes, offers a graphical environment for building and simulating complex models using the Modelica language, with advanced symbolic manipulation for efficient equation reduction and code generation to targets like C or FMI exports. OpenModelica, an open-source alternative, provides similar capabilities through the OpenModelica Compiler (OMC), supporting free simulation and integration with other tools for educational and research applications in dynamic system analysis.^[41]^[42] When selecting prominent tools for model-based design, key criteria include robust support for industry standards like DO-178C and ISO 26262 to ensure certifiability, scalability to manage hierarchical and multidomain models without performance degradation, and seamless integration with CI/CD pipelines for automated testing and deployment. Logical frameworks for tool evaluation often apply quality function deployment (QFD) to align features with project requirements, prioritizing traceability, simulation fidelity, and code generation efficiency to optimize development workflows.^[43]^[44]

Supporting Standards

Model-based design relies on established standards to promote consistency, safety, and interoperability across engineering disciplines, particularly in safety-critical domains like automotive and aerospace. These standards define protocols for model representation, verification, validation, and integration, ensuring that models can be shared and simulated reliably without proprietary constraints. Key frameworks address domain-specific needs while enabling broader collaboration through open interfaces. AUTOSAR (AUTomotive Open System ARchitecture) provides a standardized architecture for automotive software development, emphasizing the exchange of models and automated code generation to support distributed development among suppliers and OEMs. It structures software into layers—application, runtime environment, and basic software—to facilitate reusable components and timing analysis in embedded systems. The Classic Platform targets real-time ECUs with microcontroller-based execution, while the Adaptive Platform handles high-performance computing for dynamic vehicle functions.^[45]^[46] ISO 26262 outlines functional safety requirements for electrical and electronic systems in road vehicles, mandating model-based verification and validation (V&V) processes tailored to Automotive Safety Integrity Levels (ASIL) from A to D. For higher ASIL classifications, it requires rigorous model coverage analysis, fault injection in simulations, and traceability from requirements to generated code to mitigate systematic failures. The standard spans the full development lifecycle, including concept, system design, and production release, with specific clauses (e.g., Part 6 for software unit verification) integrating model-based techniques to achieve quantitative safety goals like single-point and latent fault metrics. SysML (Systems Modeling Language), developed by the Object Management Group (OMG), extends UML to support model-based systems engineering for complex, interdisciplinary systems. It includes nine diagram types—such as requirement, block definition, and parametric diagrams—for specifying structure, behavior, and constraints in a semantically precise manner. SysML enables parametric simulations to analyze trade-offs in system performance and supports verification through activity and state machine diagrams, making it suitable for requirements-driven design in domains beyond software, like hardware-software integration. The latest version, SysML v2, released in September 2025, enhances textual notation and API extensibility for automated tool interoperability.^[47] DO-178C, issued by RTCA, establishes software assurance levels (A through E) for airborne systems certification, with its supplement DO-331 specifically addressing model-based development and verification. DO-331 modifies DO-178C objectives to account for model artifacts, requiring equivalence checks between models and code, structural coverage of models, and independence in reviews for higher assurance levels. It defines processes for model creation, simulation-based testing, and tool qualification, ensuring that model-based workflows meet FAA and EASA airworthiness criteria without compromising traceability or robustness. The Functional Mock-up Interface (FMI) standard enables interoperability in model-based design by defining a tool-agnostic format for exchanging dynamic simulation models as Functional Mock-up Units (FMUs). It supports two modes: model exchange for black-box integration into a single solver, and co-simulation for distributed execution across heterogeneous tools via time-stepped communication. FMI 3.0 introduces enhancements like variable-step co-simulation and JSON metadata for better scalability in large-scale system simulations, with XML descriptions ensuring portability of inputs, outputs, and dependencies. In July 2025, the FMI Layered Standard for Network Communication (FMI-LS v1.0) was released to support networked co-simulation scenarios. Many prominent software tools provide native FMI import/export to facilitate this cross-vendor collaboration.

Benefits and Limitations

Advantages

Model-based design enhances communication among multidisciplinary teams by utilizing visual and mathematical models as a shared language, bridging gaps between engineers, domain experts, and stakeholders to facilitate better understanding and collaboration throughout the development process.^[48] Simulation in model-based design enables early error detection during the design phase, significantly reducing downstream defects in complex systems; for instance, implementation of model-based systems engineering has achieved up to a 68% reduction in specification defects by identifying ambiguities and inconsistencies before implementation.^[49] Automatic code generation from these models further boosts productivity by streamlining implementation, shortening overall development cycles by up to 50% compared to traditional hand-coding approaches.^[1] The modular nature of models in model-based design promotes reusability, allowing components to be repurposed across multiple projects, which minimizes redundant development efforts and associated costs.^[48] Additionally, it ensures comprehensive traceability by maintaining a direct link from high-level requirements and models to generated code and tests, providing full lifecycle documentation that supports verification, validation, and regulatory compliance.^[50]

Disadvantages

Model-based design imposes a steep learning curve on practitioners, necessitating specialized expertise in modeling languages and simulation environments that extends far beyond conventional programming skills. Implementing models demands substantial practice and experience to effectively capture system behaviors, often requiring teams to transition from code-centric workflows to graphical modeling paradigms like Simulink or Stateflow.^[51] ^[52] This shift can hinder adoption, particularly in organizations where engineers are accustomed to traditional hand-coding methods, leading to prolonged training periods and reduced productivity during the initial phases of implementation. A significant drawback arises from tool dependency, which fosters vendor lock-in through proprietary formats and ecosystems, alongside high licensing costs for commercial suites such as those from MathWorks. These tools often require device-specific libraries that limit platform independence, complicating migrations to alternative hardware or software environments and increasing long-term maintenance expenses.^[51] For instance, adapting integrated development environments (IDEs) and toolchains to new targets demands detailed reconfiguration, exacerbating project delays and costs.^[51] Scalability presents notable challenges, particularly in simulating large-scale systems where performance bottlenecks emerge due to computational demands and model complexity. As systems grow—such as those exceeding 100 million lines of equivalent functionality—simulations can become resource-intensive, straining hardware and extending execution times, which impedes efficient analysis of intricate interactions.^[53] This issue is amplified in real-time applications, where maintaining simulation fidelity across hierarchical models requires optimized partitioning, yet often results in bottlenecks for very large designs.^[54] Validation overhead further complicates model-based design, as ensuring model fidelity to real-world hardware involves rigorous verification processes that are inherently complex and resource-heavy. Discrepancies between prototype models and production implementations, such as execution times that can be 100 times longer in prototypes, delay comprehensive testing and introduce risks of undetected errors.^[51] Challenges include qualitative assessments lacking objectivity, difficulties in predicting accuracy for untested scenarios, and the need for formal methods to handle adaptive elements, all of which elevate the effort required to confirm that models accurately reflect physical behaviors.^[55] The initial investment in model-based design often outweighs benefits for simpler projects, demanding substantial upfront time and resources for model creation, training, and infrastructure setup. For example, generating interfaces and harness code can require approximately five days of effort per model, coupled with training that disrupts ongoing workflows, making it less viable for low-complexity tasks where traditional methods suffice more economically.^[51] In larger programs, such as aerospace missions, these costs can reach $5–10 million in early stages for tools, personnel development, and legacy integration, potentially yielding limited returns if project scale does not justify the expenditure.^[56] Additionally, maintaining model currency through regular updates and configuration management is essential, as outdated or inaccurate models can limit the overall benefits of model-based design and require significant ongoing effort.^[57]

Applications

Embedded Systems and Control

Model-based design plays a pivotal role in the development of embedded software for control systems, enabling engineers to create, simulate, and deploy algorithms that interact with physical hardware in resource-constrained environments. By representing system behavior through executable models, this approach allows for early validation of control logic before implementation on microcontrollers, reducing development time and errors in real-world deployment. In embedded contexts, models capture the interplay between computational elements and physical dynamics, supporting iterative refinement to meet performance requirements such as responsiveness and reliability.^[58] In applications involving microcontrollers, model-based design is particularly valuable for modeling sensor-actuator interactions in Internet of Things (IoT) devices, where energy efficiency and low-latency processing are critical. Engineers can simulate hardware-specific parameters, such as power consumption during data acquisition and actuation, using frameworks like Behavior-Interaction-Priority (BIP) to predict device lifetime and optimize protocols like CoAP or MQTT. This modeling approach validates energy bounds through statistical model checking, ensuring that IoT systems, such as those in building management, operate within specified constraints on platforms like Contiki OS.^[59] For instance, models represent sensors for environmental monitoring and actuators for automated responses, facilitating the design of scalable, interconnected embedded networks without exhaustive hardware prototyping.^[60] Control system design benefits significantly from model-based techniques, especially in tuning proportional-integral-derivative (PID) controllers through simulation. Tools like Simulink Control Design enable the modeling of continuous or discrete-time PID blocks, where engineers interactively adjust gains to achieve desired stability and performance metrics, such as settling time and overshoot. This simulation-driven tuning minimizes trial-and-error on physical systems, allowing for robust controller design in embedded applications like motor drives or temperature regulation. By linearizing plant models and applying automated algorithms, the process ensures controllers meet real-time demands while handling disturbances effectively.^[61] Addressing real-time constraints is a core strength of model-based design in embedded control, where automatic code generation produces deployable software optimized for deterministic execution in real-time operating systems (RTOS). Frameworks such as MATERIAL extend modeling languages like Amalthea to incorporate RTOS-specific features, including adaptive partitioning schedulers and task affinities, generating C code for platforms like QNX on hardware such as Raspberry Pi. This ensures timing predictability for multi-moded tasks, with generated code footprints as low as 50 kB for safety-critical applications, enabling seamless transition from simulation to execution while respecting deadlines. Such methods support early feasibility analysis, preventing overruns in resource-limited environments.^[62]^[63] A practical example of these principles is the development of anti-lock braking systems (ABS), where models simulate vehicle and wheel dynamics to optimize slip control under hard braking conditions. In Simulink-based designs, a quarter-car model represents tire-road friction and brake pressure modulation, using bang-bang control logic to maintain optimal slip ratios around 0.2, which can reduce stopping distances by approximately 100 feet compared to locked wheels. These simulations allow testing of controller responses to varying road surfaces before hardware-in-the-loop integration, accelerating validation and deployment on embedded ECUs.^[64] For safety-critical embedded systems, model-based design incorporates certification needs by ensuring generated code complies with standards like MISRA C, which promotes robust coding practices to mitigate risks in automotive and aerospace controls. MathWorks tools provide compliance checks and modeling guidelines that align with MISRA rules, such as avoiding undefined behaviors, while traceability matrices link requirements to code for standards like ISO 26262. This facilitates static analysis and verification, reducing certification effort by up to 50% in industrial projects through automated artifact generation and testing.^[65]^[66]

Automotive and Aerospace Industries

In the automotive industry, model-based design (MBD) plays a pivotal role in the development of electronic control units (ECUs) for advanced driver assistance systems (ADAS), enabling the modeling of complex behaviors such as adaptive cruise control and lane-keeping assistance. These systems rely on AUTOSAR-compliant models to define software components that interface with vehicle sensors and actuators, ensuring standardized communication and reusability across ECUs. For instance, MBD workflows integrate behavioral models with AUTOSAR basic software layers to simulate and generate code for real-time control algorithms.^[67]^[68] AUTOSAR models further support the simulation of vehicle dynamics in ADAS applications, capturing interactions between chassis, powertrain, and environmental factors to predict stability and response under varying conditions. This approach allows engineers to refine control strategies through iterative simulations before hardware integration, reducing errors in dynamic scenarios like emergency braking or cornering. By abstracting physical dynamics into executable models, MBD facilitates early verification of system performance against safety requirements.^[69]^[70] In the aerospace sector, MBD is extensively applied to flight control systems, where SysML diagrams model requirements, architecture, and interfaces for automatic flight controls in aircraft and helicopters. These models enable the specification of control laws for stability augmentation and autopilot functions, supporting seamless traceability from high-level requirements to implementation. Such SysML-based approaches align with DO-178C certification objectives by providing verifiable artifacts for software assurance levels (DAL) A through E, ensuring rigorous validation of critical flight behaviors.^[71]^[72] Hardware-software co-design presents significant integration challenges in both avionics and electric vehicle (EV) powertrains under MBD paradigms. In avionics, partitioning functionality between reconfigurable hardware like FPGAs and embedded software requires synchronized modeling to address timing constraints, fault tolerance, and resource allocation, often complicated by modular avionics architectures. Similarly, for EV powertrains, co-design involves modeling interactions between battery management systems, inverters, and motors, where discrepancies in hardware timing or thermal models can lead to inefficiencies or failures during high-load operations. These challenges necessitate advanced simulation environments to iteratively refine partitions and mitigate risks in distributed systems.^[73]^[74]^[75] A notable case study is Boeing's application of MBD in the development of the 787 Dreamliner, where model-based systems engineering (MBSE) facilitated extensive simulations of aircraft architecture, including flight controls and subsystems, prior to physical testing. This approach enabled early validation of integrated designs, reducing the time required for subsequent flight testing phases by allowing virtual verification of complex interactions. By leveraging MBSE models, Boeing achieved improved system reliability and accelerated certification processes for the aircraft's innovative composite structures and electrical systems.^[76] Regulatory frameworks significantly influence MBD adoption in these industries, with ISO 26262 mandating model traceability in automotive development to ensure functional safety across the product lifecycle. This standard requires bidirectional links between requirements, models, code, and tests for ASIL-rated systems, enabling impact analysis and compliance evidence generation. In aerospace, ARP4754A similarly enforces traceability in system development processes, guiding the use of MBD for civil aircraft to maintain design assurance and support certification under FAA and EASA guidelines. These regulations drive the integration of traceability tools within MBD workflows to verify compliance without exhaustive manual reviews.^[77]^[78]^[79]

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Mathematical Origins. The mathematical basis ... ODEs are also the core of Simulink®, the MATLAB companion product for simulation and Model-Based Design.
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History of AUTOSAR
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ISO 26262-1:2011 - Road vehicles — Functional safety — Part 1
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Agile and Model-Based Design for Engineering Software ...
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Cloud-Native Development and Model-Based Approaches for ...
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[PDF] Introduction to Model-Based Design - Controllab
Model-based design is a technique for system development and testing using models and simulations, replacing text-based specifications.
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[PDF] Block Diagrams for Modeling and Design
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Chapter 3 Kinds of Simulation - Modeling, Analysis, Applications
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Model-based systems engineering in modular design
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Simulink - Simulation and Model-Based Design - MATLAB
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Stateflow - MATLAB - MathWorks
Stateflow is a product that provides a graphical language that includes state transition diagrams, flow charts, state transition tables, and truth tables.
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Model-Based Control Design Process (Advanced Signal Processing Toolkit or Control Design and Simulation Module) - NI
### Summary of LabVIEW Support for Model-Based Control Design, Dataflow Modeling, and Features for Measurement and Control
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Ansys SCADE Suite | Model-Based Design
Explore Ansys SCADE Suite, a model-based design and development environment for mission- and safety-critical embedded software.Free Trial · France · Deutschland · Italia
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[PDF] Why Adopt Model-Based Design White Paper - MathWorks
Model-Based Design provides a mathematical and visual approach to develop complex systems. It supports and encourages collaboration by providing a common ...
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[PDF] Reducing Project Re-Work By The Use of Model Based Systems ...
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[PDF] Measuring the Return on Investment of Model-Based Design
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5 biggest challenges in Model-Based Development and proposed ...
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[PDF] Modeling and Simulation Verification and Validation Challenges
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Model-Based Design of Embedded Control Systems by Means of a ...
Model-based design (MBD) involves designing a model of a control system, simulating and debugging it with dedicated tools, and finally generating ...
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Model-Based Design of Energy-Efficient Applications for IoT Systems
### Summary of Model-Based Design for IoT Systems (Sensor-Actuator Modeling)
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Model-Based Design for Embedded Control Systems - MathWorks
With Model-Based Design, a system model is at the center of development, from requirements capture to design, implementation, and testing.
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Model-Based PID Controller Tuning - MATLAB & Simulink
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Model-based design is being increasingly used in the development of real-time embedded control systems due to its capabilities to support early design
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[PDF] Developing Embedded Software with Model-Based Design to Meet ...
Tracing requirements to design and test. ▫ Finding requirements errors late in development. ▫ Meeting test coverage goals. ▫ Reusing tests across design ...
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How to Fast-Track MISRA Compliance of Automatically Generated ...
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Design and Implementation Procedure for an Advanced Driver ...
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[PDF] Integrating ADAS in SDVs with Model-Based Design - MathWorks
Software-defined vehicles integrate ADAS, using model-based design, with features like high compute, hardware abstraction, and service-oriented architecture.
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(PDF) Development of AUTOSAR Software Components within ...
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Model-Based Systems Engineering Approach with SysML for an ...
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Best Practices for Developing DO-178 Compliant Software Using ...
This paper presents best practices for completing projects certified to DO-178B and DO-178C using Model-Based Design. Included are key considerations, ...
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[PDF] Hardware/Software Codesign of Aerospace and Automotive Systems
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Model Based System Design for Electric Vehicle Conversion
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Automotive Model-Based Systems Engineering as a Single Source ...
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[PDF] Model Based Systems Engineering and Model Based Safety ...
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[PDF] model-based-design-for-iso-26262.pdf - MathWorks
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ARP 4754 Explained: Guidelines for Civil Aircraft and Systems
For effective ARP 4754A Compliance, system engineers should: Use structured methodologies like Model-Based Systems Engineering (MBSE) for design traceability.
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[PDF] Application of SAE ARP4754A to Flight Critical Systems
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