Global hybrid model

• "Global" approach with subsystem components:
  • looks like hybrid decomposition
  • components for "swinging" and "falling" configurations
  • SystemSwitch
    • alternatively activates one or the other system
    • contains the event functions
    • computes the initial state at a system change
• Generic SwitchableSystem:
  • defines
    • internal state vector
    • output of current state
    • active input ("enable")
    • input of initial state when enabled
  • process activation event
  • "freeze" output if disabled