Abstract: Cyber-physical systems (CPS) are multi-dimensional complex systems that integrate computing, networks, and physical environments. The modelling for such heterogeneous systems is actively researched. However, there still lacks a systematic approach to model characteristics of CPS, such as heterogeneity, uncertainty, hardware/software coordination, and Non-Functional Properties (NFP). In this paper, we propose a co-modelling approach that relies on SysML (System Modeling Language)/MARTE (Modeling and Analysis of Real-Time and Embedded Systems)/pCCSL (p Clock Constraint Specification Language) to model different aspects of CPS from different points of view, including structure, behavior, clock constraints, and NFP. The novelty of our approach lies in the use of pCCSL to specify the interaction and synchronization to explicitly model the logical consistency between models. Meanwhile, to capture characteristics of CPS, such as stochastic behavior and continuous behavior, we build upon some meta-models of SysML/MARTE. Finally, to demonstrate the feasibility of our co-modelling approach, we present various models of an energy-aware building as a case study.

Key words: Cyber-Physical Systems (CPS), SysML/MARTE/pCCSL, co-modelling, meta-models, energy-aware building