Model conformance for cyber-physical systems: A survey

Model-based development is an important paradigm for developing cyber-physical systems (CPS). The underlying assumption is that the functional behavior of a model is related to the behavior of a more concretized model or the real system. A formal definition of such a relation is called conformance relation. There are a variety of conformance relations, and the question arises of how to select a conformance relation for the development of CPS. The contribution of this article is a survey of the definitions and algorithms of conformance relations for CPS. Additionally, the article compares several conformance relations and provides guidance on which relation to select for specific problems. Finally,we discuss howto select inputs for testing conformance.