Semenkov, KirillPromyslov, VitalyPoletykin, AlexeyReussner, Ralf H.Koziolek, AnneHeinrich, Robert2021-01-272021-01-272021978-3-88579-701-2https://dl.gi.de/handle/20.500.12116/34735A modern instrumentation and control system is a cyberphysical system that combines hardware and software components in a network aware environment. The virtualization technologies become common in the development and operation of control systems: they can be used as a tool for system life-cycle extension or for the creation of a comprehensive digital model of the system, a digital twin. The paper deals with the problem of the design of digital twins of cyberphysical systems of an Industry 4.0 era. It analyses and compares the properties of the model in implementation to the modeling of the digital and physical components of a cyberphysical system. A heterogeneous digital model combining virtual machines and emulators and some real software and hardware is recommended for the purposes of testing and verification of complex cyberphysical systems. The role and tradeoff of virtualization environment for control system simulation are discussed. A real use-case of digital modeling is described and discussed. The practical aspects of assessing the performance characteristics in virtual environment and technologies for keeping the synchronous operation of the components the digital twin and the problems of timekeeping within the heterogeneous digital model are discussed.en10.18420/inf2020_281617-5468