Key points are not available for this paper at this time.
Several aspects of model consistency are addressed. The discussion is put in the context of a particular hybrid system, the disk controller. This multilayer hybrid dynamical system is extended to include two other layers: a user layer at the top to define more complex tasks, and a sequencer between the supervisor and the servo layer to permit synchronous control.>
Göllü et al. (Tue,) studied this question.