Bridging the Embedded Execution Gap: A Review of the Functional Mock-up Interface for Actuator-Centric Execution Workflows in Industrial Embedded Systems

Abstract

Industrial actuators integrate multi-domain physical dynamics with embedded control algorithms under strict timing constraints. Despite mature model-based design workflows, a persistent embedded execution gap separates validated high-fidelity simulation models from deterministic, resource-bounded execution on embedded industrial platforms. This review examines the Functional Mock-up Interface (FMI) as an interoperability enabler for actuator development workflows and argues that interoperability at the model-exchange level does not automatically translate into interoperability at the execution level. The review analyzes the evolution of FMI from version 2.0 to 3.0, systematizes actuator-relevant fidelity requirements (nonlinearities, compliance/resonance, timing effects), and evaluates representative approaches for integrating FMI into industrial and robotic toolchains. Two deployment trajectories are synthesized: (i) runtime-constrained FMU execution on edge/MCU-class platforms for prototyping, monitoring, and non-safety-critical functions; and (ii) analyzable code-generation paths such as Embedded FMI (eFMI) and GALEC, which target bounded memory and timing transparency for certification-oriented workflows. Although FMI 3.0 introduces improved timing semantics through clocks and Scheduled Execution, end-to-end feasibility remains limited by toolchain maturity, scheduler integration patterns, and the scarcity of complete quantitative evidence on jitter, WCET, and memory footprint under realistic load. The review identifies key challenges in determinism, fidelity management, certification alignment, and ecosystem-level conformance/validation, clarifying the technical barriers that must be addressed to fully bridge the gap between high-fidelity simulation and embedded actuator deployment.