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This book provides an overview of methods for the development of computer simulation models, mostly in the context of nonlinear continuous system simulation techniques. Hybrid models, which involve a combination of continuous system and discrete-event descriptions and arise, for example, in computer-based control systems are also considered. Emphasis is placed on issues of model quality, simulation model verification, model validation and other aspects of model testing and evaluation. Experimental modelling approaches involving system identification and parameter estimation are emphasised, along with more theoretical concepts such identifiability. Illustrative examples are used throughout all sections of the book to help explain ideas and, in addition, several more extended case studies are included.