Today, advanced technical systems are complex, reconfigurable mechatronic systems where most control and reconfiguration functionality isrealized in software. A number of requirements have to be satisfied in order to apply the model-driven development approach and the UML for mechatronic systems: The UML design models must support the specification of the required hard real-time event processing. The real-time coordination in the UML models must embed the continuous control behavior in form of feedback-controllers to allow for the specification of discrete and continuous hybrid systems. Advanced solutions further require the dynamic exchange of feedback controllers at runtime (reconfiguration). Thus, a modeling of rather complex interplays between the information processing and the control is essential. Due to the safety-critical character of mechatronic systems, the resulting UML models of complex, distributed systems and their real-time behavior must be verifiable in spite of the complex structure and the embedded reconfigurable control elements. Finally, an automaticcodesynthesishastomapthespecificationcorrectlytocode.Inthispaper, we will present our MECHATRONIC UML approach, which fulfills all these requirements. The approach is motivated and illustrated by means of a running example.

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