Multi-Domaiin Modeling with Modelica

In this chapter an introduction to the object-oriented modeling language Modelica is given that is developed by the non-profit Modelica Association. Modelica is used to model the dynamic behavior of technical systems consisting of, e.g., mechanical, electrical, thermal, hydraulic, thermo-fluid, and control subsystems. A large set of free and commercial Modelica component libraries are available that are utilized from a growing number of people in industry, research and academia. Besides the language and the Modelica standard library, the algorithms are sketched that are needed to transform the high level description of Modelica in to a form that can be solved by standard numerical integration methods.