Contents
Cover
Half Title page
Title page
Copyright page
Preface
About the Author
About this Book
Reading Guide
Acknowledgements
Contributions to Examples
Contributors to the Modelica Standard Library, Version 3.2.1
Contributors to the Modelica Standard Library, Versions 1.0 to 2.1
Contributors to the Modelica Language, Version 3.3 revision 1
Contributors to the Modelica Language, Version 3.3
Contributors to the Modelica Language, Version 3.2
Contributors to the Modelica Language, Version 3.0
Contributors to the Modelica Language, Version 2.0
Contributors to the Modelica Language, up to Version 1.3
Modelica Association Member Companies and Organizations 2013
Funding Contributions
Part I: Introduction
Chapter 1: Introduction to Modeling and Simulation
1.1 Systems and Experiments
1.2 The Model Concept
1.3 Simulation
1.4 Building Models
1.5 Analyzing Models
1.6 Kinds of Mathematical Models
1.7 Using Modeling and Simulation in Product Design
1.8 Examples of System Models
1.9 Summary
1.10 Literature
Chapter 2: A Quick Tour of Modelica
2.1 Getting Started with Modelica
2.2 Object-Oriented Mathematical Modeling
2.3 Classes and Instances
2.4 Inheritance
2.5 Generic Classes
2.6 Equations
2.7 Acausal Physical Modeling
2.8 The Modelica Software Component Model
2.9 Partial Classes
2.10 Component Library Design and Use
2.11 Example: Electrical Component Library
2.12 The Simple Circuit Model
2.13 Arrays
2.14 Algorithmic Constructs
2.15 Discrete-Event and Hybrid Modeling
2.16 Packages
2.17 Annotations
2.18 Naming Conventions
2.19 Modelica Standard Library
2.20 Implementation and Execution of Modelica
2.21 Tool Interoperability through Functional Mockup Interface
2.22 History
2.23 Summary
2.24 Literature
2.25 Exercises
Part II: The Modelica Language
Chapter 3: Classes, Types, Declarations, and Lookup
3.1 Contract between Class Designer and User
3.2 A Class and Instance Example
3.3 Variables
3.4 Behavior as Equations
3.5 Access Control
3.6 Simulating the Moon Landing Example
3.7 Short Classes and Nested Classes
3.8 Specialized Classes
3.9 Predefined Types/Classes
3.10 Structure of Variable Declarations
3.11 Declaration Prefixes
3.12 Variable Specifiers
3.13 Initial Values of Variables
3.14 Conditional Instance Declarations
3.15 Declaration Order and Use before Declaration
3.16 Introduction to Scoping and Name Lookup
3.17 Nested Lookup Procedure in Detail
3.18 The Concepts of Type and Subtype
3.19 Use of Subtyping and Type Compatibility
3.20 Summary of Type Concepts
3.21 Summary
3.22 Literature
3.23 Exercises
Chapter 4: Inheritance, Modifications, and Generics
4.1 Inheritance
4.2 Inheritance through Modification
4.3 Redeclaration
4.4 Parameterized Generic Classes
4.5 Designing a Class to Be Extended
4.6 Adapting and Extending Libraries by class extends
4.7 Summary
4.8 Literature
4.9 Exercises
Chapter 5: Components, Connectors, and Connections
5.1 Software Component Models
5.2 Connectors and Connector Classes
5.3 Connections
5.4 Connectors, Components, and Coordinate Systems
5.5 Design Guidelines for Connector Classes
5.6 Connecting Components from Multiple Domains
5.7 Detailed Connection Semantics
5.8 Implicit Connections with the inner/outer Construct
5.9 Expandable Connectors for Information Buses
5.10 Stream Connector Concept for Fluid Systems
5.11 Overconstrained Connection Graphs
5.12 Summary
5.13 Literature
5.14 Exercise
Chapter 6: Literals, Operators, and Expressions
6.1 Character Set
6.2 Comments
6.3 Identifiers, Names, and Keywords
6.4 Predefined Types
6.5 Literal Constants
6.6 Operator Precedence and Associativity
6.7 Order of Evaluation
6.8 Expression Type and Conversions
6.9 Variability of Expressions
6.10 Arithmetic Operators
6.11 Equality, Relational, and Logical Operators
6.12 Miscellaneous Operators
6.13 Built-in Intrinsic Mathematical Functions
6.14 Built-in Special Operators and Functions
6.15 Match-Expressions and Symbolic Programming
6.16 Summary
6.17 Literature
6.18 Exercises
Chapter 7: Arrays
7.1 Array Declarations and Types
7.2 General Array Construction
7.3 Array Concatenation and Construction
7.4 Array Indexing
7.5 Using Array Concatenation and Slices
7.6 Array Equality and Assignment
7.7 String Concatenation Array Operator
7.8 Arithmetic Array Operators and Elementwise Operators
7.9 Built-in Array Functions
7.10 Vectorization via Application of Scalar Functions to Arrays
7.11 Empty Arrays
7.12 Summary
7.13 Literature
7.14 Exercises
Chapter 8: Equations
8.1 General Equation Properties
8.2 Equations in Declarations
8.3 Equations in Equation Sections
8.4 Initialization and Initial Equation
8.5 Equation Operators for Overconstrained Connection-Based Equation Systems
8.6 Synchronous Clock-Based Equations
8.7 Equation Operators for Clocked State Machines
8.8 Special Operators for Enabling Equation System Solution
8.9 Balanced Model Equation Systems
8.10 Partial Differential Equations
8.11 Summary
8.12 Literature
8.13 Exercises
Chapter 9: Algorithms and Functions
9.1 Declarative versus Nondeclarative Constructs
9.2 Algorithms and Statements
9.3 Functions
9.4 External Functions
9.5 User-Defined Overloaded Operators and Constructor Functions
9.6 Summary
9.7 Literature
9.8 Exercises
Chapter 10: Packages
10.1 Packages as Abstract Data Types
10.2 Package Access
10.3 Package and Library Structuring
10.4 Package Variants and Operations
10.5 A Comparison Between Java and Modelica Packages
10.6 External Resources and Libraries
10.7 Summary
10.8 Literature
10.9 Exercises
Chapter 11: Annotations, Units, and Quantities
11.1 Standard Annotations
11.2 Annotation Syntax
11.3 Annotation Placement
11.4 Graphical Annotations
11.5 Annotations for Customizing Library GUIs
11.6 Annotations for Simulation Experiments
11.7 Annotation for Single Use of a Class
11.8 Annotations Influencing Code Generation
11.9 Documentation Annotations
11.10 Version Handling Annotations
11.11 Tool Specific Annotations
11.12 Annotations for Access Control to Protect Intellectual Property
11.13 Function Annotations
11.14 Annotations for External Libraries and Include Files
11.15 URI References to External Resources
11.16 Units and Quantities
11.17 Summary
11.18 Literature
11.19 Exercises
Part III: Modeling and Applications
Chapter 12: Cyber-Physical System Modeling Methodology
12.1 Building System Models
12.2 Modeling a Tank System
12.3 Modeling of a DC-Motor Servo from Predefined Components
12.4 Designing Interfaces—Connector Classes
12.5 Block Diagram Models
12.6 Categories of Variables and Constants in Mathematical Models
12.7 Types of Equations in Mathematical Models
12.8 Statespace Equations for Continuous Systems
12.9 Summary
12.10 Literature
12.11 Exercises
Chapter 13: Discrete Events and Hybrid and Embedded System Modeling
13.1 Real-Time and Reactive Systems
13.2 Events
13.3 Discrete Model Examples and Related Formalisms
13.4 Hybrid System Modeling and Simulation
13.5 Concurrent Access to Shared Resources
13.6 Clock-Based Modeling in Detail
13.7 Clocked State Machines in Detail
13.8 Summary
13.9 Literature
13.10 Exercises
Chapter 14: Basic Laws of Nature
14.1 Energy Conservation
14.2 Analog Electrical Circuits
14.3 Mechanical Translational 1D
14.4 Mechanical Rotational 1D
14.5 Flow Systems and Hydraulics
14.6 Thermal Systems
14.7 Thermodynamics
14.8 Multibody Systems
14.9 Summary
Chapter 15: Application Examples
15.1 Mechatronic Systems—A DC Motor
15.2 Thermodynamics—An Air-filled Control Volume Interacting with Subsystems
15.3 Chemical Reactions
15.4 Biological and Ecological Systems
15.5 Economic Systems
15.6 Packet-Switched Communication Networks
15.7 Design Optimization
15.8 Fourier Analysis of Simulation Data
15.9 Pressure Dynamics in 1D Ducts—Solving Wave Equations by Discretized PDEs
15.10 Mechanical Multibody Systems and the MBS Library
15.11 Mechanical CAD Model Simulation and Visualization
15.12 Summary
15.13 Literature
Chapter 16: Modelica Library Overview
16.1 Modelica.Constants Library
16.2 Modelica.Math Library
16.3 Modelica.ComplexMath Library
16.4 Modelica.Utilities Library
16.5 Modelica.SIUnits Library
16.6 Modelica.Electrical Library
16.7 Modelica.Electrical.Digital Library
16.8 Modelica.Blocks Library
16.9 Modelica_StateGraph2 Library
16.10 Modelica_Synchronous Library
16.11 Modelica.Mechanics Library
16.12 Modelica.FLuid Library
16.13 Modelica.Media Library
16.14 Modelica.Thermal Library
16.15 ThermoSysPro Library
16.16 ThermoPower Library
16.17 PowerSystems Library
16.18 PNLib—Extended Hybrid Petri Net (xHPN) Library
16.19 BioChem—Biochemical Pathway Library
16.20 OpenHydraulics Library
16.21 BondLib and the SystemDynamics Library World3 Model
16.22 Summary
16.23 Literature
Part IV: Technology and Tools
Chapter 17: A Mathematical Representation for Modelica Models
17.1 Defining Hybrid DAEs—a Hybrid Mathematical Representation
17.2 Summary
17.3 Literature
Chapter 18: Techniques and Research
18.1 Overview of the Process of Simulating Modelica Models
18.2 Simulation Techniques—Solving Equation Systems
18.3 Selected Modelica-Related Research and Language Design
18.4 Literature
Chapter 19: Environments
19.1 General Background
19.2 Common Characteristics
19.3 OpenModelica
19.4 Wolfram SystemModeler
19.5 The Dymola Environment
19.6 Summary
19.7 Literature
Appendix A: Glossary
Literature
Appendix B: Modelica Formal Syntax
B.1 Lexical Conventions
B.2 Modelica Grammar
B.3 MetaModelica 2.0 Grammar Extensions
B.4 Optimization Grammar Extensions
B.5 ParModelica Grammar Extensions
Appendix C: Solutions to Exercises
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Appendix D: Modelica Standard Library Samples
Modelica.Constants
Modelica.SIunits
Modelica.SIunits.Conversions
Modelica.SIunits.Conversions.to_degC
Modelica.SIunits.Converslons.from_degC
Modelica.Math
Modelica.Math.Random
Modelica.Blocks
Modelica.Blocks.Interfaces
Modelica.Blocks.Continuous
Modelica.Blocks.Nonlinear
Modelica.Blocks.Math
Modelica.Blocks.Sources
Modelica.Electrical
Modelica.Electrical.Analog
Modelica.Electrical.Analog.Interfaces
Modelica.Electrical.Analog.Basic
Modelica.Electrical.Analog.Ideal
Modelica.Electrical.Analog.Sensors
Modelica.Electrical.Analog.Sources
Modelica.Electrical.Analog.Lines
Modelica.Electrical.Analog.-Semiconductors
Modelica.Electrical.Analog.Examples
Appendix E: Modelica and Python Scripting
E.1 OpenModelica Modelica Scripting Commands
E.2 OpenModelica Python Scripting Commands
E.3 Wolfram SystemModeler Scripting Commands
E.4 Dymola Scripting Commands
Appendix F: Related Equation-Based, Object-Oriented Modeling Languages
F.1 Language Developments Behind Modelica
F.2 Related Languages
F.3 Literature
Appendix G: FMI—Functional Mockup Interface
G.1 Summary
G.2 Overview
G.3 FMI for Model Exchange
G.4 FMI for Co-Simulation
G.5 Literature
References
Index
Wiley End User License Agreement
Principles of Object Oriented Modeling and Simulation with Modelica 3.3
IEEE Press
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Piscataway, NJ 08854
IEEE Press Editorial Board
Tariq Samad, Editor in Chief
Kenneth Moore, Director of IEEE Book and Information Services (BIS)
For further information visit: the book web page http://www.DrModelica.org, the Modelica Association web page http://www.modelica.org, the authors research page http://www.ida.liu.se/labs/pelab/modelica, or email the author at petfr@ida.liu.se
Copyright © 2015 by the Institute of Electrical and Electronics Engineers, Inc. All rights reserved.
All rights reserved. Reproduction or use of editorial or pictorial content in any manner is prohibited without express permission. No patent liability is assumed with respect to the use of information contained herein. While every precaution has been taken in the preparation of this book the publisher assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of information contained herein.
Certain material from the Modelica Tutorial and the Modelica Language Specification available at http://www.modelica.org has been reproduced in this book with permission the from the Modelica Association.
Documentation from the commercial libraries HyLib and PneuLib has been reproduced with permission from the author.
Documentation and code from the Modelica libraries available at http?www.modelica.org has been reproduced with permission in this book according to the following license:
The Modelica License (Version 1.1 of June 30, 2000)
Redistribution and use in source and binary forms, with or without modification are permitted, provided that the following conditions are met:
Modelica License Disclaimer
The software (sources, binaries, etc) in its original or in a modified form are provided “as is” and the copyright holders assume no responsibility for its contents what so ever. Any express or implied warranties, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose are disclaimed. In no event shall the copyright holders, or any party who modify and/or redistribute the package, be liable for any direct, indirect, incidental, special, exemplary, or consequential damages, arising in any way out of the use of this software, even if advised of the possibility of such damage.
Trademarks
Modelica® is a registered trademark of the Modelica Association. MathModelica® and MathCode® are registered trademarks of MathCore Engineering AB. Dymola® is a registered trademark of Dynasim AB. MATLAB® and Simulink® are registered trademarks of Math Works Inc. JavaTM is a trademark of Sun MicroSystems AB. Mathematica® is a registered trademark of Wolfram Research Inc.
Library of Congress Cataloging-in-Publication Data:
Fritzson, Peter A., 1952-
Principles of object oriented modeling and simulation with Modelica 3.3:a cyber-physical approach / Peter Fritzson.
— 2nd edition.
ISBN: 9781118859124
pages cm
Includes bibliographical references and index.
1. Object-oriented methods (Computer science) 2. Computer simulation. 3. Modelica, I. Title.
QA76.64.F758 2015
005.1’17–dc23
2014022271
Preface
The Modelica modeling language and technology is being warmly received by the world community in modeling and simulation with major applications in virtual prototyping of complex cyber-physical systems, which mix physical system dynamics with software (cyber) and networks. It is bringing about a revolution in this area, based on its ease of use, visual design of models with combination of lego-like predefined model building blocks, its ability to define model libraries with reusable components, its support for modeling and simulation of complex applications involving parts from several application domains, and many more useful facilities. To draw an analogy—Modelica is currently in a similar phase as Java early on, before the language became well known, but for virtual prototyping instead of Internet programming.
About the Author
Peter Fritzson, PhD, is Professor and Research Director of the Programming Environment Laboratory within Department of Computer and Information Science, Linköping University, Sweden. Prof. Fritzson is also Director of the Open Source Modelica Consortium, Director of the MODPROD Center for Model-Based Product Development, and Vice Chairman of the Modelica Association, all organizations he helped to establish. Previously, he has served as Chairman of the Scandinavian Simulation Society, Secretary of EuroSim, and a Project Leader at Sun MicroSystems California. Prof. Fritzson is one of the world’s leading experts on object-oriented equation-based modeling and simulation technology, and is one of the founding fathers of Modelica..
About this Book
This book teaches modeling and simulation of cyber-physical systems and gives an introduction and complete overview of the Modelica language to people who are familiar with basic programming concepts. It gives a basic introduction to the concepts of cyber-physical systems, modeling and simulation, equation-based object-oriented modeling, as well as the basics of object-oriented component-based modeling for the novice, and a comprehensive overview of modeling and simulation in a number of application areas. In fact, the book has several goals:
The book contains many examples of models in different application domains, as well as examples combining several domains. However, it is not primarily intended for the advanced modeler who, for example, needs additional insight into modeling within very specific application domains, or the person who constructs very complex models where special tricks may be needed.
All examples and exercises in this book are available in an electronic self-teaching material called DrModelica, based on this book, which gradually guides the reader from simple introductory examples and exercises to more advanced ones. All of this teaching material can be freely downloaded from the book web site within www.openmodelica.org. This site also includes the downloadable free open source tool OpenModelica for modeling and simulation, which is the tool primarily used in this book.
Moreover, the web site contains additional (teaching) material related to this book. The Modelica Standard Library 3.2.1 release August 2013 is used for the examples in this book. The main web site for the Modelica and Modelica libraries, including the most recent versions, is the Modelica Association website, www.Modelica.org.
This second edition describes improvements and updates of the Modelica language up to Modelica 3.3. revision 1, including synchronous clocked constructs, examines basic concepts of cyber-physical, equation-based, object-oriented system modeling and simulation. The Modelica class concept and its use in graphical and textual modeling is introduced together with several hundred examples from many application areas and explores modeling methodology for continuous, discrete, and hybrid systems; and more.
Reading Guide
This book is a combination of a textbook for teaching modeling and simulation of cyber-physical systems, a textbook and reference guide for learning how to model and program using Modelica, and an application guide on how to do physical modeling in a number of application areas. The book can be read sequentially from the beginning to the end, but this will probably not be the typical reading pattern. Here are some suggestions:
An interactive computer-based self-teaching course material called DrModelica is available as electronic live notebooks at www.openmodelica.org. This material includes all the examples and exercises with solutions from the book, and is designed to be used in parallel when reading the book, with page references, etc.
The reading diagram below is yet another reading guideline, giving a combination of important language concepts together with modeling methodology and application examples of your choice. The selection is of necessity somewhat arbitrary – you should also take a look at the table of contents of other chapters and part of chapters so that you do not miss something important according to your own interest.
Acknowledgements
The members of the Modelica Association created the Modelica language, and contributed have many examples of Modelica code in the Modelica Language Rationale and Modelica Language Specification (see http://www.modelica.org), some of which are used in this book. The members who contributed to various versions of Modelica are mentioned further below.
First, thanks to my wife, Anita, who has supported and endured me during this writing effort.
Very special thanks to Peter Bunus for help with model examples, some figures, Microsoft Word formatting, and for many inspiring discussions. Without your help this project might have been too hard, especially considering the damage to my hands from too much typing on computer keyboards.
Many thanks to Hilding Elmqvist for sharing the vision about a declarative modeling language, for starting off the Modelica design effort by inviting people to form a design group, for serving as the first chairman of Modelica Association, and for enthusiasm and many design contributions including pushing for a unified class concept. Also thanks for inspiration regarding presentation material including finding historical examples of equations.
Many thanks to Martin Otter for serving as the second chairman of the Modelica Association, for enthusiasm and energy, design and Modelica library contributions, as well as inspiration regarding presentation material.
Many thanks to Eva-Lena Lengquist Sandelin and Susanna Monemar for help with the first version of the exercises, for help with preparing certain appendices, and for preparing the first version of the DrModelica interactive notebook teaching material which makes the examples in this book more accessible for interactive learning and experimentation.
Thanks to Peter Aronsson, Bernhard Bachmann, Peter Beater, Jan Brugård, Dag Brück, Brian Elmegaard, Hilding Elmqvist, Vadim Engelson, Rüdiger Franke, Dag Fritzson, Torkel Glad, Pavel Grozman, Daniel Hedberg, Andreas Idebrant, Mats Jirstrand, Olof Johansson, Emma Larsdotter Nilsson, Håkan Lundvall, Sven-Erik Mattsson, Iakov Nakhimovski, Hans Olsson, Adrian Pop, Per Sahlin, Levon Saldamli, Hubertus Tummescheit, and Hans-Jürg Wiesmann for constructive comments on the first edition, and in some cases other help, on parts of the book, and to Peter Bunus for help in making Microsoft Word more cooperative.
Thanks to Hans Olsson and Dag Brück, who edited several versions of the Modelica Specification, and to Michael Tiller for sharing my interest in programming tools and demonstrating that it is indeed possible to write a Modelica book.
Thanks to Bodil Mattsson-Kihlström for handling many administrative chores at the Programming Environment Laboratory while I have been focusing on the first edition book writing, to Ulf Nässén for inspiration and encouragement, and to Uwe Assmann for encouragement and sharing common experiences on the hard task of writing books.
Thanks to all members of PELAB and employees of MathCore Engineering, who have given comments and feedback.
Thanks to the staff at Vårdnäs Stiftgård, who have provided a pleasant atmosphere for important parts of this writing effort.
Approximately 95 per cent of the running text of the first edition this book has been entered by voice using Dragon Naturally Speaking. This is usually slower than typing, but still quite useful for a person like me, who has acquired RSI (Repetitive Strain Injury) due to too much typing. Fortunately, I could still do limited typing and drawing, e.g., for corrections, examples, and figures. All Modelica examples are hand-typed, but often with the help of others. All figures except the curve diagrams are, of course, hand drawn.
The first version of this book “Principles of Object-Oriented Modeling and Simulation with Modelica 2.1” was finalized in September 2003.
The second edition, titled “Principles of Modeling and Simulation with Modelica 3.3: A Cyber-Physical Approach” has been updated to Modelica 3.3 rev 1 and extended with more aspects covering modeling of cyber-physical systems with integrated hardware-software and the new clocked synchronous features in Modelica 3.3 especially suitable for embedded systems modeling. A description of stream connectors including several examples has been added, as well as a description of expandable connectors. The chapter on the Modelica standard library and some other open source libraries has been updated to the current status. Moreover, some additional material has been included such as requirements-driven modeling and verification of cyber-physical software/hardware products, meta-modeling with MetaModelica, and a short introduction to FMI – the Functional Mockup Interface for model exchange and/or co-simulation.
Regarding the second edition many people have contributed with feedback—there is a risk of forgetting somebody here. I would especially like to thank Per Östlund for very detailed and expert feedback on nine of the chapters, Bernhard Thiele for detailed feedback regarding the new sections about the clocked synchronous constructs in Chapter 13, Francesco Casella for feedback on stream connectors and modeling style, Rüdiger Franke regarding application models and help to convert the thermodynamic examples in Chapter 15 to stream connector style, Alachew Shitahun for help with updating library and scripting appendices, Arunkumar Palanisamy for help with the grammar appendix update, Adeel Asghar for feedback regarding graphical annotations and the graphical editor. Also thanks to Dirk Zimmer, Elena Shmoylova, Martin Otter, Hilding Elmqvist, and Bernt Lie for feedback. Many thanks to Adrian Pop, Per Östlund, Martin Sjölund, Adeel Asghar, Willi Braun, Lennart Ochel, Vitalij Ruge, and all other developers in the OpenModelica project for support and help when needed. Thanks to Lena Buffoni for additional exercises and collaboration in teaching our Modelica course. Thanks to Adrian Pop and Martin Sjölund regarding MetaModelica and compiler bootstrapping work, and to Wladimir Schamai regarding feedback and collaboration on ModelicaML, requirement verification, and state charts semantics.
The updates for this edition were possible for me to type without voice input. My hands have become better with frequent crawl swimming exercises and a work position using a thin laptop on my lap.
Linköping, July 2014
Peter Fritzson
Contributions to Examples
Many people contributed to the original versions of some of the Modelica examples presented in this book. Most examples have been significantly revised compared to the originals. A number of individuals are acknowledged below with the risk of accidental omission due to oversight. If the original version of an example is from the Modelica Tutorial or the Modelica Specification on the Modelica Association web sites, the contributors usually are the members of the Modelica Association, but in some cases individuals are mentioned also in this case. In addition to the examples mentioned in this table, there are also numerous small example fragments from the Modelica Tutorial and Specification used in original or modified form in the text, which is indicated to some extent in the reference section of each chapter.
| Example Models | Individuals |
| VanDerPol in Section 2.1.1 | Andreas Karström |
| SimpleCircuit in Section 2.7.1 | Members of the Modelica Association. |
| PolynomialEvaluator in Section 2.14.3 | Members of the Modelica Association. |
| LeastSquares in Section 2.14.4 | Mikael Adlers |
| Diode and BouncingBall in Section 2.15 | Members of the Modelica Association. |
| SimpleCircuit expansion in Section 2.20.1 | Martin Otter |
| Rocket in Section 3.5 | Peter Bunus |
| MoonLanding in Section 3.5 | Peter Bunus |
| BoardExample in Section 3.17.5 | Members of the Modelica Association. |
| BaseClassExtendsConflict in Section 4.1.6 | Per Östlund |
| LowPassFilter in Section 4.2.10 | Members of the Modelica Association. |
| FrictionFunction, KindOfController Sec 4.3.12 | Members of the Modelica Association. |
| Tank in Section 4.4.5 | Peter Bunus |
| Oscillator, Mass, Rigid in Section 5.4.4 | Martin Otter |
| SpringDamper of Figure 5-22 in Section 5.4.5 5.4.4 | Dirk Zimmer |
| RealInput, RealoutPut, MISO in Section 5.5.2 | Martin Otter |
| MatrixGain, CrossProduct in Section 5.7.5 | Members of the Modelica Association. |
| Environment in Section 5.8.1 | Members of the Modelica Association. |
| CircuitBoard in Section 5.8.2 | Members of the Modelica Association. |
| uniformGravity, pointGravity in Section 5.8.3 | Members of the Modelica Association. |
| ParticleSystem in Section 5.8.3 | Members of the Modelica Association. |
| Volume in Section 5.10.4.1 | Rüdiger Franke, Francesco Casella, Martin Otter, Michael Sielemann, Hilding Elmqvist, Sven-Erik Mattsson, Hans Olsson |
| WaterVolumeConstant in Section 5.10.4.1 | Per Östlund |
| WaterVolumeCompressible in Section 5.10.4.1 | Francesco Casella |
| IsoenthalpicFlow in Section 5.10.4.25.10.4.1 | Rüdiger Franke, Francesco Casella, Martin Otter, Michael Sielemann, Hilding Elmqvist, Sven-Erik Mattsson, Hans Olsson |
| WaterVolumeConstant in Section 5.10.4.1 | Per Östlund |
| WaterVolumeCompressible in Section 5.10.4.1 | Francesco Casella |
| IsoenthalpicFlow in Section 5.10.4.25.10.4.1 | Rüdiger Franke, Francesco Casella, Martin Otter, Michael Sielemann, Hilding Elmqvist, Sven-Erik Mattsson, Hans Olsson |
| TemperatureSensor in Section 5.10.4.3 | Rüdiger Franke, Francesco Casella, Martin Otter, Michael Sielemann, Hilding Elmqvist, Sven-Erik Mattsson, Hans Olsson |
| TimeEventTest, mySinNoTime in Section 5.10.4.36.3.3 | Per Östlund |
| PendulumImplicitL, readParameterData in Section 8.4.4 | Sven-Erik Mattsson, Hilding Elmqvist, Martin Otter, Hans Olsson |
| ProcessControl1, ProcessControl2, ProcessCcntrol3, ProcessControl4 in Section 8.4.6 | Sven-Erik Mattsson, Hilding Elmqvist, Martin Otter, Hans Olsson |
| HeatRectangle2D in Section 8.10.1.4 | Levon Saldamli |
| Material to Figure 8-13 on 2D heat flow using FEM. | Levon Saldamli |
| FieldDomainOperators1D in Section 8.10.5. | Hilding Elmqvist, Jonas Jonasson |
| DifferentialOperators1D in Section 8.10.5. | Jonas Jonasson, Hilding Elmqvist |
| HeadDiffusion1D in Section 8.10.5. | Jonas Jonasson, Hilding Elmqvist |
| Diff22D in Section 8.10.5.1 | Hilding Elmqvist |
| FourBarl example in Section 8.5.1. | Martin Otter |
| Orientation in Section 8.5.1. | Martin Otter, Hilding Elmqvist, Sven-Erik Mattsson. |
| FixedTranslation in Section 8.5.3 | Martin Otter, Hilding Elmqvist, Sven-Erik Mattsson. |
| Material to Figure 8-5 on cutting branches in virtual connection graph. | Martin Otter, Hilding Elmqvist, Sven-Erik Mattsson. |
| findElement in Section 9.2.7 | Peter Aronsson |
| FilterBlock1 in Section 8.3.6 | Members of the Modelica Association. |
| realToString in Section 9.3.2.1 | Members of the Modelica Association. |
| eigen in Section 9.3.2.3 | Martin Otter |
| findMatrixElement in Section 9.3.2.6 | Peter Aronsson |
| Record2 in Section 9.3.3 | Members of the Modelica Association. |
| bilinearSampling in Section 9.4.3 | Members of the Modelica Association. |
| MyTable, interpolateMyTable in Section 9.4.8 | Members of the Modelica Association. |
| Mechanics in Section 10.3.2.2 | Members of the Modelica Association. |
| Placement, Transformation in Section 11.4.4 | Members of the Modelica Association. |
| Line, Polygon, etc. in Section 11.4.5 | Members of the Modelica Association. |
| Resistor, FrictionFunction in Section 11.5.8.2 | Members of the Modelica Association. |
| h0,h1,h2 in Section 11.10.1 | Members of the Modelica Association. |
| FlatTank in Section 12.2.1.1 | Peter Bunus |
| TankPI, Tank, LiquidSource in Section 12.2.3 | Peter Bunus |
| PIContinuousController in Section 12.2.3 | Peter Bunus |
| TankPID, PIContinuousController Section 12.2.4 | Peter Bunus |
| DC-Motor Servo in Section 12.3 | Mats Jirstrand |
| SmoothAndEvents in Section 13.2.5.11 | Members of the Modelica Association. |
| CountingStateMachinel in Section 13.3.2.1 | Hilding Elmqvist, Fabien Gaucher, Sven Erik Mattsson, Francois Dupont |
| ClockedVarWhen in Section 13.2.6.4 | Bernhard Thiele |
| PreVsPrevious in Section Section 13.2.5.14 | Bernhard Thiele |
| WatchDogSystem in Section 13.3.2.4 | Peter Bunus |
| WatchDogSystemStateMachinePack in Section 13.3.2.5 | Bernhard Thiele |
| CustomerGeneration in Section 13.3.4.2 | Peter Bunus |
| ServerWithQueue in Section 13.3.4.2 | Peter Bunus |
| BasicDEVSTwoPort in Section 13.3.5 | Peter Bunus |
| SimpleDEVSServer in Section 13.3.5 | Peter Bunus |
| Place, Transition in Section 13.3.6.5 | Hilding Elmqvist, Peter Bunus |
| GameOfLife, nextGeneration in Section 13.3.3.1 | Peter Bunus |
| PIdiscreteController in Section 13.4.1 | Peter Bunus |
| TankHybridPI in Section 13.4.1 | Peter Bunus |
| SimpleElastoBacklash in Section 13.4.2 | Peter Bunus |
| DCMotorCircultBacklash in Section 13.4.2 | Peter Bunus |
| ElastoBacklash in Section 13.4.2 | Martin Otter |
| Philosophers, DiningTable in Section 13.5.1 | Håkan Lundvall |
| MassWithSpringDamper in Section 13.6.1 | Hilding Elmqvist, Sven-Erik Mattsson, Martin Otter, Bernhard Thiele |
| SpeedControlP_MassWithSpringDamper in Section 13.6.1 | Hilding Elmqvist, Sven-Erik Mattsson, Martin Otter, Bernhard Thiele |
| ClockedPiEx in Section 13.6.5 | Hilding Elmqvist, Martin Otter, Sven-Erik Mattsson |
| BackSampleEx1 in Section 13.6.9.4 | Hilding Elmqvist, Martin Otter, Sven-Erik Mattsson |
| NoClockVsSampleHold in Section 13.6.9.5 | Bernhard Thiele |
| BaseClockPartitionEx in Section 13.6.13.1 | Hilding Elmqvist, Martin Otter, Sven-Erik Mattsson |
| ControlledMass in Section 13.6.13.2 | Hilding Elmqvist, Sven-Erik Mattsson, Martin Otter, Bernhard Thiele |
| SolverMethodClockedPI in Section 13.6.15.3 | Hilding Elmqvist, Sven-Erik Mattsson, Martin Otter, Bernhard Thiele |
| ClockTicks in Section 13.6.16 | Hilding Elmqvist, Martin Otter, Sven-Erik Mattsson |
| ClockTicksWithModelica32 in Section 13.6.16 | Hilding Elmqvist, Martin Otter, Sven-Erik Mattsson |
| StateMachineSemantics in Section 13.7.4.4 | Hilding Elmqvist, Fabien Gaucher, Sven Erik Mattsson, Francois Dupont |
| HierarchicalAndParallelStateMachine1 in Section 13.7.5 | Hilding Elmqvist, Fabien Gaucher, Sven Erik Mattsson, Francois Dupont |
| HierarchicalAndParallelStateMachine2 in Section 13.7.5 | Hilding Elmqvist, Fabien Gaucher, Sven Erik Mattsson, Francois Dupont |
| BasicVolume in Section 15.2.2 | Mats Jirstrand |
| BasicVolume in Section 15.2.3 | Mats Jirstrand |
| BasicVolume in Section 15.2.4 | Mats Jirstrand |
| BasicVolume in Section 15.2.4.2 | Johan Gunnarsson |
| FlowConnectorIn in Section 15.2.5.1 | Francesco Casella |
| FlowConnectorOut in Section 15.2.5.1 | Francesco Casella |
| FlowConnector in Section 15.2.5.1 | Rüdiger Franke |
| IdealGas in Section 15.2.5.2 | Mats Jirstrand, Hubertus Tummescheit |
| BasicVolumeFirst in Section 15.2.5.2 | Mats Jirstrand, Hubertus Tummescheit |
| BasicVolume in Section 15.2.5.2 | Mats Jirstrand, Hubertus Tummescheit, Rüdiger Franke |
| PressureEnthalpySource in Section 15.2.5.3 | Mats Jirstrand |
| PressureEnthalpyBoundary in Section 15.2.5.3 | Rüdiger Franke |
| SimpleValveFlow in Section 15.2.5.4 | Mats Jirstrand |
| ValveFlowFirst in Section 15.2.5.5 | Mats Jirstrand |
| ValveFlow in Section 15.2.5.5 | Mats Jirstrand, Rüdiger Franke |
| ControlledValveFlowFirst in Section 15.2.5.6 | Mats Jirstrand |
| ControlledValveFlow in Section 15.2.5.6 | Mats Jirstrand, Rüdiger Franke |
| CtrlFlowSystem in Section 15.2.5.6 | Mats Jirstrand, Rüdiger Franke |
| PneumaticCylinderVolume in Section 15.2.5.7 | Hubertus Tummescheit |
| PneumaticCylinderVolume in Section 15.2.5.8 | Hubertus Tummescheit |
| RoomWithFan in Section 15.2.6 | Hubertus Tummescheit |
| RoomInEnvironment in Section 15.2.6 | Hubertus Tummescheit |
| HydrogenIodide in Section 15.3.1 | Emma Larsdotter Nilsson |
| LotkaVolterra in Section 15.4.1 | Emma Larsdotter Nilsson |
| HandyBase in Section 15.4.2.2 | Rodrigo Castro |
| HandyEgalitarianBase in Section 15.4.2.4 | Rodrigo Castro |
| HandyEquitableBase in Section 15.4.2.5 | Rodrigo Castro |
| HandyUnEquitableBase in Section 15.4.2.6 | Rodrigo Castro |
| World3 in Section 15.4.2.7 | Francois Cellier |
| WillowForest in Section 15.4.3 | Emma Larsdotter Nilsson |
| TCPSender, Loss_link_queue in Section 15.6.3 | Daniel Fämquist et. al., Peter Bunus |
| Router21, TCPSackvsTCPWostWood in Section 15.6 | Daniel Fämquist et. al., Peter Bunus |
| LinearActuator in Section 15.7 | Mats Jirstrand, Jan Brugård |
| WeakAxis in Section 15.8 | Mats Jirstrand, Jan Brugård |
| WaveEquationSample in Section 15.9 | Jan Brugård, Mats Jirstrand |
| FreeFlyingBody in Section 15.10.2 | Vadim Engelson |
| doublePendulumNoGeometry in Section 15.10.7 | Vadim Engelson |
| doublePendulumCylinders in Section 15.10.6.2 | Vadim Engelson |
| PenduluraLoop2D in Section 15.10.7 | Vadim Engelson |
| ExtForcePendulum in Section 15.10.9.1 | Vadim Engelson |
| PendulumRotationalSteering in Section 15.10.9.3 | Vadim Engelson |
| PendulumWithPDController in Section 15.10.9.4 | Vadim Engelson |
| TripleSprings in Section TripleSprings 5.4.3.2 | Martin Otter |
| EngineV6 in Section 15.10.10 | Martin Otter |
| Generator in Section 17.1.6 | Peter Bunus |
| Material to Figure 17-4, Figure 17-5, and Figure 17-6 | Bernhard Bachmann |
Contributors to the Modelica Standard Library, Version 3.2.1
| Person | Affiliation |
| Marcus Baur | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Thomas Beutlich | ITI GmbH, Dresden, Germany |
| Thomas Bödrich | Technical University of Dresden, Dresden, Germany |
| Francesco Casella | Politecnico di Milano, Milano, Italy |
| Christoph Clauß | Fraunhofer Institute for Integrated Circuits, Dresden, Germany |
| Rüdiger Franke | ABB AG, Mannheim, Germany |
| Leo Gall | Bausch-Gall GmbH, Munich, Germany |
| Peter Harmann | CyDesign Ltd., Coventry, U.K. |
| Anton Haumer | Technical Consulting & Electrical Engineering, St.Andrae-Woerdern, Austria |
| Andreas Heckmann | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Daniel Hedberg | Wolfram MathCore AB, Linköping, Sweden |
| Philipp Jordan | Technical University of Hamburg-Harburg, Hamburg, Germany |
| Christian Kral | AIT Austrian Institute of Technology, Vienna, Germany |
| Kristin Majetta | Fraunhofer Institute for Integrated Circuits, Dresden, Germany |
| Jesper Mattsson | Modelon AB, Lund, Sweden |
| Hans Olsson | Dassault Systèmes AB, Lund Sweden |
| Martin Otter | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Bruno Scaglioni | Consorzio MUSP, Piacenza, Italy |
| Michael Sielemann | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Martin Sjölund | Linköpings University, Linköping, Sweden |
| Bernhard Thiele | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Jakub Tobolar | DLR Institute of System Dynamics and Control, Oberpfaffenhofen, Germany |
| Hubertus Tummescheit | Modelon AB, Lund Sweden |
| Michael Wetter | Lawrence Berkeley National Laboratory, Berkeley, U.S.A. |
| Dietmar Winkler | Telemark University College, Porsgrunn, Norway |
| Stefan Wischhusen | XRG Simulation GmbH, Hamburg, Germany |
| Johannes Ziske | Technical University of Dresden, Dresden, Germany |
Contributors to the Modelica Standard Library, Versions 1.0 to 2.1
| Person | Affiliation |
| Peter Beater | University of Paderborn, Germany |
| Christoph Clauß | Fraunhofer Institute for Integrated Circuits, Dresden, Germany |
| Martin Otter | German Aerospace Center, Oberpfaffenhofen, Germany |
| Andre Schneider | Fraunhofer Institute for Integrated Circuits, Dresden, Germany |
| Nikolaus Schürmann | German Aerospace Center, Oberpfaffenhofen, Germany |
| Christian Schweiger | German Aerospace Center, Oberpfaffenhofen, Germany |
| Michael Tiller | Ford Motor Company, Dearborn, MI, U.S.A. |
| Hubertus Tummescheit | Lund Institute of Technology, Sweden |
Contributors to the Modelica Language, Version 3.3 revision 1
| Person | Affiliation |
| Peter Aronsson | Wolfram MathCore AB, Linköping, Sweden |
| Hilding Elmqvist | Dassault Systèmes, Lund, Sweden |
| Peter Fritzson | Linköping University, Linköping, Sweden |
| Christoph Höger | TU Berlin, Berlin, Germany |
| Gerd Kurzbach | ITI GmbH, Dresden, Germany |
| Jesper Mattsson | Modelon, Lund, Sweden |
| Hans Olsson | Dassault Systèmes, Lund, Sweden |
| Martin Otter | German Aerospace Center (DLR), Oberpfaffenhofen, Germany |
| Adrian Pop | Linköping University, Sweden |
| Elena Shmoylova | Maplesoft, Waterloo, Canada |
| Martin Sjölund | Linköping University, Linköping, Sweden |
| Stefan Vorkoetter | Maplesoft, Waterloo, Canada |
Contributors to the Modelica Language, Version 3.3
| Person | Affiliation |
| Peter Aronsson | Wolfram MathCore AB, Linköping, Sweden |
| Johan Åkesson | Modelon AB, Lund, Sweden |
| Ingrid Bausch-Gall | Bausch-Gall GmbH, Munich, Germany |
| Volker Beuter | Kämmerer AG, Germany |
| Torsten Blochwitz | ITI GmbH, Dresden, Germany |
| David Broman | Linköping University, Linköping, Sweden |
| Dag Brück | Dassault Systèmes, Lund, Sweden |
| Francesco Casella | Politecnico di Milano, Milano, Italy |
| Christoph Clauss | Fraunhofer, Dresden, Germany |
| Mike Dempsey | Claytex Services Limited, Leamington Spa, U.K. |
| Karin Dietl | TU Hamburg-Harburg, Germany |
| Francois Dupont | Dassault Systèmes, Brest, France |
| Jonas Eborn | Modelon, Lund, Sweden |
| Hilding Elmqvist | Dassault Systèmes, Lund, Sweden |
| Guilioano Fontanella | AIT, Vienna, Austria |
| Rüdiger Franke | ABB Power Generation, Mannheim, Germany |
| Peter Fritzson | Linköping University, Linköping, Sweden |
| Sébastien Furic | LMS International, Roanne. France |
| Leo Gall | Bausch Gall Gmbh, Munich, Germany |
| Peter Harmann | deltatheta uk limited, U.K. |
| Anton Haumer | AIT, Vienna, Austria |
| Carsten Heinrich | Institut für Luft- und Kältetechnik gGmbH, Dresden, Germany |
| Dan Henriksson | Dassault Systèmes, Lund, Sweden |
| Christoph Höger | TU Berlin, Berlin, Germany |
| Christian Kral | AIT, Vienna, Austria |
| Gerd Kurzbach | ITI GmbH, Dresden, Germany |
| Kilian Link | Siemens AB, Erlangen, Germany |
| Krisitin Majetta | Fraunhofer, Dresden, Germany |
| Martin Malmheden | Dassault Systèmes, Velicy, France |
| Jesper Mattsson | Modelon, Lund, Sweden |
| Sven Erik Mattsson | Dassault Systèmes, Lund, Sweden |
| Eric Neuber | ITI GmbH, Dresden, Germany |
| Ramine Nikoukhah | Altair, France |
| Hans Olsson | Dassault Systèmes, Lund, Sweden |
| Martin Otter | German Aerospace Center (DLR), Oberpfaffenhofen, Germany |
| Peter Pepper | Fraunhofer FIRST, Berlin, Germany |
| Adrian Pop | Linköping University, Sweden |
| Olena Rogovchenko | Linköping University, Linköping, Sweden |
| Stefan-Alexander Schneider | BMW, Munich, Germany |
| Michael Sielemann | German Aerospace Center, Oberpfaffenhofen, Germany |
| Martin Sjölund | Linköping University, Linköping, Sweden |
| Kristian Stavåker | Linköping University, Linköping, Sweden |
| Bernhard Thiele | German Aerospace Center, Oberpfaffenhofen, Germany |
| Eric Thomas | Dassault Aviation, Paris, France |
| Michael Tiller | Dassault Systèmes, Velicy, France |
| Hubertus Tummescheit | Modelon AB, Lund, Sweden |
| Andreas Uhlig | ITI Gmbh, Dresden Germany |
| Stefan Vorkoetter | Maplesoft, Waterloo, Canada |
| Daniel Weil | Dassault Systèmes, Grenoble, France |
| Hans-Jürg Wiesmann | ABB Switzerland, Corporate Research, Baden, Switzerland |
| Dietmar Winkler | Telemark University College, Porsgrunn, Norway |
| Stefan Wischhusen | XRG Simulation, Hamburg, Germany |
| Dirk Zimmer | German Aerospace Center (DLR), Oberpfaffenhofen, Germany |
Contributors to the Modelica Language, Version 3.2
| Person | Affiliation |
| Peter Aronsson | MathCore AB, Linköping, Sweden |
| Johan Åkesson | Lund University and Modelon AB, Lund, Sweden |
| Bernhard Bachmann | University of Applied Sciences, Bielefeld, Germany |
| Jonathan Beck | Dassault Systèmes, Paris, France |
| Torsten Blochwitz | ITI GmbH, Dresden, Germany |
| David Broman | Linköping University, Linköping, Sweden |
| Dag Brück | Dynasim, Lund, Sweden |
| Francesco Casella | Politecnico di Milano, Milano, Italy |
| Mike Dempsey | Claytex Services Limited, Leamington Spa, U.K. |
| Karin Dietl | TU Hamburg-Harburg, Germany |
| Filippo Donida | Politecnico di Milano, Milano, Italy |
| Hilding Elmqvist | Dassault Systèmes, Lund, Sweden |
| Rüdiger Franke | ABB Corporate Research, Ladenburg, Germany |
| Peter Fritzson | Linköping University, Sweden |
| Sébastien Furic | LMS International, Roanne. France |
| Manuel Gräber | TU Braunschweig, Germany |
| Peter Harmann | deltatheta uk limited, U.K. |
| Anton Haumer | AIT, Vienna, Austria |
| Carsten Heinrich | Institut für Luft- und Kältetechnik gGmbH, Dresden, Germany |
| Dan Henriksson | Dassault Systèmes, Lund, Sweden |
| Fredrik Karlsson, | Linköping University, Sweden |
| Christian Kral | AIT, Vienna, Austria |
| Imke Krüger | TU Hamburg-Harburg, Hamburg, Germany |
| Gerd Kurzbach | ITI GmbH, Dresden, Germany |
| Kilian Link | Siemens AB, Erlangen, Germany |
| Sven Erik Mattsson | Dynasim, Lund, Sweden |
| Eric Neuber | ITI GmbH, Dresden, Germany |
| Hans Olsson | Dynasim, Lund, Sweden |
| Martin Otter | German Aerospace Center, Oberpfaffenhofen, Germany |
| Adrian Pop | Linköping University, Sweden |
| Katrin Prölß | Modelon AB, Lund, Sweden |
| Michael Sielemann | German Aerospace Center, Oberpfaffenhofen, Germany |
| Bernhard Thiele | German Aerospace Center, Oberpfaffenhofen, Germany |
| Michael Tiller | Emmeskay, Plymouth, MI, U.S.A. |
| Hubertus Tummescheit | Modelon AB, Lund, Sweden |
| Stefan Vorkoetter | Maplesoft, Waterloo, Canada |
| Hans-Jürg Wiesmann | ABB Switzerland, Corporate Research, Baden, Switzerland |
| Dietmar Winkler | Telemark University College, Porsgrunn, Norway |
Contributors to the Modelica Language, Version 3.0
| Person | Affiliation |
| Peter Aronsson | MathCore AB, Linköping, Sweden |
| Bernhard Bachmann | University of Applied Sciences, Bielefeld, Germany |
| John Batteh | Ford Motor Company, Dearborn, MI, U.S.A. |
| David Broman | Linköping University, Linköping, Sweden |
| Dag Brück | Dynasim, Lund, Sweden |
| Peter Bunus | Linköping University, Linköping, Sweden |
| Francesco Casella | Politecnico di Milano, Milano, Italy |
| Christoph Clauß | Fraunhofer Institute for Integrated Circuits, Dresden, Germany |
| Thomas Doumenc | Dassault Systèmes, Paris, France |
| Jonas Eborn | Modelon AB, Lund, Sweden |
| Hilding Elmqvist | Dynasim, Lund, Sweden |
| Rüdiger Franke | ABB Corporate Research, Ladenburg, Germany |
| Peter Fritzson | Linköping University, Sweden |
| Sebastien Furic | Imagine, Roanne, France |
| Anton Haumer | Tech. Consult. & Electrical Eng., St.Andrae-Woerdern, Austria |
| Daniel Hedberg | MathCore AB, Linköping, Sweden |
| Carsten Heinrich | Institut für Luft- und Kältetechnik gGmbH, Dresden, Germany |
| Olof Johansson | Linköping University, Linköping, Sweden |
| Roland Kossel | TLK Thermo GmbH, Braunschweig, Germany |
| Christian Kral | arsenal research, Vienna, Austria |
| Gerd Kurzbach | ITI GmbH, Dresden, Germany |
| Kilian Link | Siemens AB, Erlangen, Germany |
| Jose Diaz Lopez | Dynasim AB, Lund, Sweden |
| Karin Lunde | Fachhochschule Ulm, Germany |
| Håkan Lundvall | Linköping University, Linköping, Sweden |
| Ludwig Marvan | VA TECH ELIN EBG Elektronik GmbH & Co, Vienna, Austria |
| Sven Erik Mattsson | Dynasim, Lund, Sweden |
| Jakob Mauss | Qtronic GmbH, Berlin, Germany |
| Chuck Newman | Ford Motor Company, Dearborn, MI, U.S.A |
| Kaj Nyström | Linköping University, Linköping, Sweden |
| Hans Olsson | Dynasim, Lund, Sweden |
| Martin Otter | German Aerospace Center, Oberpfaffenhofen, Germany |
| Markus Plainer | arsenal research, Vienna, Austria |
| Adrian Pop | Linköping University, Sweden |
| Katrin Prölß | Technical University Hamburg-Harburg, Germany |
| Christoph Richter | Technical University of Braunschweig, Braunschweig, Germany |
| Anders Sandholm | Linköping University, Linköping, Sweden |
| Christian Schweiger | German Aerospace Center, Oberpfaffenhofen, Germany |
| Michael Tiller | Ford Motor Company/Emmeskay, Dearborn, MI, U.S.A. |
| Hubertus Tummescheit | Modelon AB, Lund, Sweden |
| Hans-Jürg Wiesmann | ABB Switzerland Ltd., Corporate Research, Baden, Switzerland |
Contributors to the Modelica Language, Version 2.0