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Continuous System Modeling. Springer, New York, 1 edition, (Dec 20, 1991)Continuous System Simulation, and . Springer Science+Business Media, (2006)A Virtual Motorcycle Rider Based on Automatic Controller Design, , and . Proceedings of the 7th International Modelica Conference, Como, Italy, 20-22 September 2009, page 19--28. Linköpings universitet, Linköping University Electronic Press, (2009)Hierarchical Non-Linear Bond Graphs: A Unified Methodology for Modeling Complex Physical Systems. Simulation, 58 (4): 230--248 (1992)