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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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Göllü et al. (2003) studied this question.