Search-based Testing of Simulink Models with Requirements Tables

Search-based software testing (SBST) of Simulink models helps find scenarios that demonstrate that the system can reach a state that violates one of its requirements. However, many SBST techniques for Simulink models rely on requirements being expressed in logical languages, limiting their adoption in industry. To help with the adoption, SBST methods and tools for Simulink models need to be integrated with tools used by engineers to specify requirements. This work presents the first black-box testing approach for Simulink models that supports Requirements Table (RT), a tool from Simulink Requirements Toolbox used by practitioners to express software requirements. We evaluated our solution by considering 60 model-RT combinations each made by a model and an RT. Our SBST framework returned a failure-revealing test case for 70% of the model-RT combinations. Remarkably, it identified a failure-revealing test case for three model-RT combinations for a cruise controller of an industrial simulator that other previously used tools were not able to find. The efficiency of our SBST solution is acceptable for practical applications and comparable with existing SBST tools that are not based on RT.