Abstract: Single discrete system simulation or continuous system simulation can't meet the complex needs of CPS si- mulation. We divided the integrated model of CPS into three types of entities, built discrete event simulation model (UML model) based on event driven for the computation entity, continuous-time simulation model (Simufink model) based on timcdriven for the physical entity. We applied co-simulation to construct interactive entity, characterizing the interfaces and behaviors of computation entity and physical entity. This paper introduced the advantages of the collabo- rative modeling of UMI./Simulink, investigated and analyzed three different methods for model merging. At the model levcl,we designed the fusion of the CPS integrated model on the basis of unmanned aerial vehicle model.

Key words: CPS, Computation entity, Physical entity, UML/Simulink models merging