Cyber–Physical Systems (CPS) are heterogeneous and require cross-domain expertise to model. The complexity of these systems leads to questions about prevalent modeling approaches, their ability to integrate heterogeneous models, and their relevance to the application domains and stakeholders. The methodology for Multi-Paradigm Modeling (MPM) of CPS is not yet fully established and standardized, and researchers apply existing methods for modeling of complex systems and introducing their own. No systematic review has been previously performed to create an overview of the field on the methods used for MPM of CPS. In this paper, we present a systematic mapping study that determines the models, formalisms, and development processes used over the last decade. Additionally, to determine the knowledge necessary for developing CPS, our review studied the background of actors involved in modeling and authors of surveyed studies. The results of the survey show a tendency to reuse multiple existing formalisms and their associated paradigms, in addition to a tendency towards applying transformations between models. These findings suggest that MPM is becoming a essential approach to model CPS, and highlight the importance of future integration of models, standardization of development process and education.

网络物理系统 (CPS) 是异构的，需要跨领域的专业知识来建模。这些系统的复杂性导致了关于流行建模方法、它们集成异构模型的能力以及它们与应用程序域和利益相关者的相关性的问题。CPS的多范式建模（MPM）方法尚未完全建立和标准化，研究人员应用现有方法对复杂系统进行建模并引入自己的方法。之前没有进行系统评价来创建 CPS 的 MPM 方法的领域概述。在本文中，我们提出了一项系统的映射研究，该研究确定了过去十年中使用的模型、形式主义和开发过程。此外，为了确定开发 CPS 所需的知识，我们的评论研究了参与建模的参与者的背景和调查研究的作者。调查结果显示，除了在模型之间应用转换的趋势外，还有重用多种现有形式主义及其相关范式的趋势。这些发现表明 MPM 正在成为模型 CPS 的重要方法，并强调了未来模型集成、开发过程和教育标准化的重要性。