## 2 Related Work  
According to the authors of [21; 22], virtual commissioning represents a key tool within Industry 4.0, enabling the optimization of the development and implementation of CPSs. Modern digital technologies and high computational power allow for realistic simulation of system behaviour, minimizing the need for physical prototypes and reducing development costs [23]. According to the author of [24], the development of cyber-physical systems is becoming increasingly complex due to the growing sophistication of automation components and robotics [10]. Shortening development cycles and improving product quality require advanced validation and testing methods [25]. The continuous reduction in delivery times and increasing demands for production accuracy have led to the wider adoption of automated quality control, utilizing sensors, cameras, and inspection systems [25]. According to authors [26; 27], the development of modern manufacturing systems is nearly impossible without the use of advanced computer simulation methods. The virtual commissioning methodology, based on the HiL principle, enables the validation of control software using a PLC [28]. This approach integrates mechanical, electrical, and software components, increasing the reliability and efficiency of the entire process. Virtual commissioning thus offers significant benefits in reducing development time, improving software quality, and ensuring a more stable integration of new product variants into production [29]. One of the pillars of Industry 4.0 is the digital enterprise concept, which includes a virtual machine applicable in different phases of the cyber-physical system development lifecycle [30]. Each phase involves specific simulation techniques that interconnect, such as transferring building blocks from CAD systems to 3D visualization platforms [31]. During the machine construction phase, FEA and MBS are used, while in the commissioning phase, system behaviour simulation through virtual commissioning plays a crucial role [25]. This innovative process significantly reduces the time required for testing and enhances the quality of manufacturing systems, as shown in Figure 1. According to the authors, compared to the conventional process, where software development is separated from design and assembly, an innovative approach utilizing virtual commissioning allows for parallel validation, leading to significant time savings [32; 33]. According to the authors of [34; 35; 36], virtual commissioning enables the identification and elimination of errors in the design phase, significantly reducing the time required for stabilizing manufacturing systems. A key element of virtual commissioning is the behaviour model, which enables the simulation of dynamic properties and interactions between system components [37; 38]. This model can be represented in multiple ways, depending on the required level of detail. State-based models use state machines and sequential diagrams to define operations and system responses, while physics-based models apply mechanical, electrical, and fluid dynamics principles to simulate movement, forces, and interactions [39]. Hybrid models combine state-based control with physical simulations, providing a more realistic representation of the actual system [40]. The behaviour model created during virtual commissioning can later be integrated into a digital twin, which continuously updates based on real-time operational data, enabling continuous analysis, predictive maintenance, and system optimization [41]. According to the authors of [42; 43], virtual commissioning can be considered the initial phase of digital twin modelling, with the main difference between these concepts lying in their interaction with the real system. Virtual commissioning is primarily used in the pre-production phase for testing and validating designs, while a digital twin functions throughout the entire lifecycle of the system and is linked to sensor data from the real environment [11; 44].