<s>
20-sim	B-Application
is	O
commercial	O
modeling	O
and	O
simulation	O
program	O
for	O
multi-domain	O
dynamic	O
systems	O
,	O
which	O
is	O
developed	O
by	O
Controllab	O
.	O
</s>
<s>
With	O
20-sim	B-Application
,	O
models	O
can	O
be	O
entered	O
as	O
equations	O
,	O
block	B-Application
diagrams	I-Application
,	O
bond	B-Application
graphs	I-Application
and	O
physical	O
components	O
.	O
</s>
<s>
20-sim	B-Application
is	O
widely	O
used	O
for	O
modeling	O
complex	O
multi-domain	O
systems	O
and	O
for	O
the	O
development	O
of	O
control	O
systems	O
.	O
</s>
<s>
20-sim	B-Application
supports	O
four	O
methods	O
for	O
modeling	O
dynamic	O
systems	O
:	O
iconic	O
diagrams	O
,	O
block	B-Application
diagrams	I-Application
,	O
bond	B-Application
graphs	I-Application
and	O
equations	O
.	O
</s>
<s>
The	O
package	O
has	O
advanced	O
support	O
for	O
bond	B-Application
graph	I-Application
modeling	O
,	O
making	O
it	O
well	O
known	O
in	O
bond	B-Application
graph	I-Application
communities	O
.	O
</s>
<s>
For	O
block	B-Application
diagrams	I-Application
,	O
libraries	O
comparable	O
to	O
those	O
of	O
Simulink	B-Application
,	O
are	O
provided	O
.	O
</s>
<s>
A	O
feature	O
of	O
the	O
software	O
is	O
the	O
option	O
to	O
create	O
models	O
with	O
differential	O
equations	O
and	O
package	O
them	O
as	O
block	B-Application
diagram	I-Application
elements	O
or	O
physical	O
components	O
.	O
</s>
<s>
20-sim	B-Application
models	O
can	O
be	O
simulated	O
using	O
state	O
of	O
the	O
art	O
numerical	B-Algorithm
integration	I-Algorithm
methods	O
.	O
</s>
<s>
After	O
checking	O
and	O
processing	O
,	O
models	O
are	O
directly	O
converted	O
into	O
machine	B-Language
code	I-Language
,	O
resulting	O
in	O
high	O
speed	O
simulations	O
.	O
</s>
<s>
Unlike	O
Simulink	B-Application
,	O
simulation	O
results	O
are	O
shown	O
in	O
20-sim	B-Application
in	O
a	O
separate	O
window	O
called	O
the	O
Simulator	O
.	O
</s>
<s>
20-sim	B-Application
is	O
self	O
containing	O
,	O
i.e.	O
</s>
<s>
To	O
enable	O
scripting	O
it	O
is	O
necessary	O
to	O
install	O
either	O
Matlab	B-Language
,	O
GNU	B-Language
Octave	I-Language
,	O
or	O
Python	O
.	O
</s>
<s>
The	O
last	O
is	O
included	O
as	O
an	O
optional	O
feature	O
in	O
the	O
20-sim	B-Application
installer	O
.	O
</s>
<s>
Because	O
of	O
its	O
extended	O
support	O
of	O
bond	B-Application
graph	I-Application
modeling	O
20-sim	B-Application
is	O
highly	O
rated	O
in	O
the	O
bond	B-Application
graph	I-Application
community	O
.	O
</s>
<s>
"	O
20-sim	B-Application
,	O
MS1	O
and	O
Symbols	O
can	O
be	O
categorized	O
as	O
a	O
fully	O
integrated	O
(	O
multi-formalism	O
)	O
modeling	O
and	O
simulation	O
environments	O
especially	O
supporting	O
bond	B-Application
graphs	I-Application
"	O
.	O
</s>
<s>
Roddeck	O
compares	O
several	O
modeling	O
and	O
simulation	O
tools	O
like	O
Simulink	B-Application
,	O
Labview	B-Application
and	O
20-sim	B-Application
.	O
</s>
<s>
Roddeck	O
acknowledges	O
the	O
market	O
leadership	O
of	O
Simulink	B-Application
but	O
states	O
that	O
the	O
advantage	O
of	O
20-sim	B-Application
is	O
the	O
direct	O
input	O
of	O
bond	B-Application
graphs	I-Application
in	O
20-sim	B-Application
and	O
the	O
availability	O
of	O
built-in	O
tools	O
for	O
FFT-analysis	O
and	O
3D	O
mechanical	O
modeling	O
.	O
</s>
<s>
According	O
to	O
Ledin	O
,	O
"	O
20-sim	B-Application
differs	O
from	O
other	O
simulation	O
tools	O
like	O
Simulink	B-Application
and	O
VisSim	B-Application
in	O
that	O
it	O
supports	O
four	O
methods	O
for	O
modeling	O
dynamic	O
systems	O
:	O
iconic	O
diagrams	O
,	O
block	B-Application
diagrams	I-Application
,	O
bond	B-Application
graphs	I-Application
and	O
equations	O
.	O
</s>
<s>
A	O
weak	O
point	O
,	O
according	O
to	O
Ledin	O
is	O
the	O
missing	O
capability	O
for	O
distributed	O
simulation	O
in	O
20-sim	B-Application
.	O
</s>
<s>
20-sim	B-Application
offers	O
tight	O
integration	O
with	O
20-sim	B-Application
4C	O
.	O
</s>
<s>
Any	O
20-sim	B-Application
model	O
can	O
be	O
exported	O
as	O
C-code	O
to	O
20-sim	B-Application
4C	O
where	O
it	O
can	O
be	O
used	O
for	O
deployment	O
on	O
hardware	O
.	O
</s>
<s>
Typical	O
use	O
is	O
the	O
development	O
of	O
controllers	O
for	O
embedded	O
software	O
and	O
the	O
creation	O
of	O
"	O
virtual	O
plants	O
"	O
for	O
use	O
in	O
hardware-in-the-loop	B-Application
simulators	I-Application
.	O
</s>
<s>
20-sim	B-Application
can	O
be	O
controlled	O
by	O
scripting	O
,	O
allowing	O
task	O
automation	O
and	O
scenario	O
building	O
.	O
</s>
<s>
Scripting	O
is	O
supported	O
in	O
Matlab	B-Language
or	O
GNU	B-Language
Octave	I-Language
,	O
and	O
in	O
Python	O
(	O
since	O
v4.6	O
)	O
.	O
</s>
<s>
Next	O
to	O
scripting	O
,	O
20-sim	B-Application
has	O
a	O
tight	O
connection	O
with	O
Matlab	B-Language
,	O
GNU	B-Language
Octave	I-Language
and	O
Simulink	B-Application
allowing	O
the	O
import	O
and	O
export	O
of	O
data	O
on	O
many	O
levels	O
.	O
</s>
<s>
The	O
export	O
of	O
20-sim	B-Application
models	O
as	O
M-files	B-Language
or	O
S-functions	O
is	O
the	O
most	O
prominent	O
example	O
.	O
</s>
<s>
20-sim	B-Application
is	O
the	O
redevelopment	O
of	O
the	O
simulation	O
software	O
package	O
TUTSIM	B-Application
,	O
which	O
was	O
developed	O
at	O
the	O
Control	O
Laboratory	O
of	O
the	O
University	O
of	O
Twente	O
.	O
</s>
<s>
While	O
TUTSIM	B-Application
was	O
sold	O
in	O
the	O
late	O
70	O
's	O
,	O
research	O
into	O
modeling	O
and	O
simulation	O
continued	O
at	O
the	O
laboratory	O
.	O
</s>
<s>
The	O
program	O
was	O
equipped	O
with	O
a	O
graphical	O
user	O
interface	O
and	O
allowed	O
the	O
creation	O
of	O
models	O
by	O
bond	B-Application
graphs	I-Application
.	O
</s>
<s>
While	O
CAMAS	O
was	O
all	O
built	O
around	O
bond	B-Application
graphs	I-Application
,	O
a	O
new	O
prototype	O
package	O
called	O
MAX	O
was	O
developed	O
to	O
investigated	O
object	O
oriented	O
modeling	O
techniques	O
and	O
modeling	O
by	O
iconic	O
diagrams	O
.	O
</s>
<s>
After	O
extensive	O
testing	O
,	O
in	O
August	O
1995	O
version	O
1.0	O
of	O
the	O
software	O
was	O
commercially	O
released	O
under	O
the	O
trade	O
name	O
20-sim	B-Application
(	O
Twente	O
Sim	O
)	O
.	O
</s>
