The aim of this paper is to provide a unified language for modeling both control software and physical plants in real time control systems. This is done by embedding the bond graph modeling language for physical systems into the UML-RT framework, widely used to model distributed real-time software
On the use of UML for modeling physical system / Secchi, Cristian; Fantuzzi, Cesare; Bonfe', M.. - ELETTRONICO. - 2005:(2005), pp. 3990-3995. (Intervento presentato al convegno 2005 IEEE International Conference on Robotics and Automation tenutosi a Barcelona, esp nel 18-22 Aprile 2005) [10.1109/ROBOT.2005.1570731].