Books on Modelica

Introductory Literature on Modelica in English

	Michael Tiller - “Modelica by Example” (2014). Michael Tiller’s latest online book on Modelica is the result of a Kickstarter project whose goal was to produce a freely accessible book on Modelica. The book starts off with a discussions on modeling various types of behavior in Modelica (equations, discrete events, differential equations). This is followed by a step-by-step explanation of how to create reusable component models, subsystems and architectures that encapsulated the mathematical behavior. Along the way, various Modelica features like arrays and functions are also introduced.
	Peter Fritzson - “Principles of Object-Oriented Modeling and Simulation with Modelica 3.3: A Cyber-Physical Approach” (2014). The second edition features improvements and updates of the Modelica language including synchronous clocked constructs, examines basic concepts of cyber-physical, equation-based, object-oriented system modeling and simulation. This text is aimed at System Modeling and Simulation engineers, control engineers, mechanical engineers, those working with CAD (Computer Aided Design), virtual reality, biochemistry, embedded systems, and data communication. The book can be ordered from both Amazon and from Wiley with the discount code VBG91.
	Alfonso Urquia Moraleda and Caria Martin Villalba - Modeling and simulation in Engineering Using Modelica (2018) available as free PDF. This book offers an introduction to the development and simulation of Modelica models for engineering applications. The target audience are bachelor’s or master’s level students, interested in modeling and simulation, and with a background in both physics and numerical methods. The book is structured into three parts. The modeling methodology and the Modelica features for continuous-time modeling are discussed in the first part of the book. The simulation of continuous-time Modelica models is addressed in the second part of the book. The third part of the book is devoted to discuss hybrid modeling and simulation in Modelica. The modeling methodology, the Modelica language features, and the use of modeling environments are explained by means of examples.
	Alfonso Urquia Moraleda, Caria Martin Villalba, MIGUEL Ángel Rubio Gonzalez and Victorino Sanz Prat - Simulation practice with Modelica (2018) available as free PDF. This exercise book provides an introduction to the simulation practice in Engineering using Modelica. To this end, it contains a series of thirteen independent hands-on assignments of increasing complexity. Each assignment contains the description of a system and a mathematical model of the system’s behavior. The proposed task often consists in describing this mathematical model in the Modelica language and simulate it. In some assignments, the system’s behavior is described as an atomic model, without internal structure. Some other assignments ask to design and implement a model library, and to compose the system model by instantiating and connecting components from this model library.
	Peter Fritzson - The new short introductory book “Introduction to Modeling and Simulation of Technical and Physical Systems” (September 2011) by Peter Fritzson is aimed at teaching Modelica modeling and simulation to beginners, or in courses where there is only limited time for an introduction to Modelica. The book is 232 pages, uses downloadable exercises and solution, and uses the Modelica language standard version 3.1.
	Michael Tiller wrote the first book on Modelica with the title “Introduction to Physical Modeling with Modelica” (2001). The book provides a solid foundation in the Modelica modeling language and shows interesting modeling examples from a wide range of engineering disciplines. You can find out more about the book here

Non-English Literature

	Peter Fritzson - “Introduction to Modeling and Simulation of Technical and Physical Systems”, Translations (2015-2017). This book has been translated from its English original into three languages. The Chinese translation was organized by Fanli Zhou and Liping Chen, The Japanese translation was performed by Tomohide Hirono, reviewed by Akira Ohata. The Spanish translation was done by Sebastián Dormido, Madrid, Spain and later José Luis Villa at Technical University of Cartagena de Indias, Cartagena, Colombia. More information about the individual translations can be found on the corresponding OpenModelica book website.
	Abdulhamid Ansari - “Introduction to Modeling of Engineering Systems by Modelica” (2020). First Modelica Book in Persian language is published by Hormozgan University Publication, ISBN:9786007279267 from 2014 with an Update in 2020. Additional material and more information can be retrieved from the corresponding blog site
	Thomas Lienhard Schmitt and Markus Andres - “Methoden zur Modellbildung und Simulation mechatronischer Systeme” (2019). General introduction into modeling and simulation with a focus on bond-graphs, Modelica and dynamic solvers. Chapter 6 and 7 are almost exclusively related to Modelica and chapter 8 covers numerical solvers for dynamic simulation.
	Víctor M. Alfaro - “Sistemas dinámicos heterogéneos – Modelado, simulación y optimización con Modelica” (2015). First Spanish book covering the basics of Modelica, its standard library components, and the use (with examples) of OpenModelica, JModelica.org, and Wolfram System Modeler. The book aim at soften the Modelica learning curve to the Spanish speaking newcomers and to provide a set of examples to the more advanced users. It is published under a Creative Commons CC-BY-NC-ND license and available at the web address https://pidplanet.wordpress.com/modelica
	Peter Junglas - “Praxis der Simulationstechnik” (2014). This book (written in German) gives a thorough introduction to simulation using a lot of practical examples. The second part (“Object oriented methods”) describes Modelica and its libraries using MapleSim and OpenModelica as tools. For more information please have a look at the publisher’s site and the the author’s site.
	Peter Beater - “Regelungstechnik und Simulationstechnik mit Scilab und Modelica” (2010). This book (written in German) gives an introduction to two aspects of the design of technical systems: Analytical analysis and control of their stability and non-linear simulation of their behavior in the time domain. The first part of the book covers the standard methods of classical control and thus gives a foundation to understand modern simulation tools. In the second part several technical examples are used to explain modelling and simulation approaches. They start with a simple linear electrical oscillator, followed by a non-linear pendulum, a bouncing ball, heat conduction in a long rod and a pneumatic bellows. These examples are first used to introduce simple numerical integration algorithms and their pitfalls and later to explain basic concepts and operators in Modelica. The most important Modelica keywords and operators are listed and explained in a separate chapter. The book is intended for students and engineers of mechanical engineering.

Books on Particular Domains

	Atiyah Elsheikh and Peter Palensky - “Modelica by Application Power Systems V1.1” (2021). An E-book illustrating the Modelica language from Power Systems perspective. However, since the e-book is following a fundamental approach, some chapters are domain independent and are also useful for readers not necessarily interested in power system modeling applications, e.g. Historical evolution of domain-independent system modeling principles. The e-book can be also an ideal guide for Modelica modelers seeking a better understanding of power system modeling applications. Individual chapters are accessible online. Optionally, the whole e-book can be purchased for as-much-as-you-think-the-ebook-deserves.
	Christian Kral - “Modelica, Object Oriented Modeling of Polyphase Electric Machines” (2018). The book (written in German) gives an introduction to Modelica in the field of electrical engineering with a particular focus on polyphase electric machines. Simulation examples of the open source library HanserModelica include transient and quasi stationary electric circuits including electrical systems coupled to the magnetic, thermal and mechanical domain. The theory and the implementation of the polyphase electrical machines enclosed in the Modelica Standard Library are explained in detail. Each application examples of the HanserModelica library can be simulated in OpenModelica (HanserModelica is included in OpenModelica 1.13.0 as system library). The book also includes a brief tutorial on GitHub to explain how a Modelica project can be initiated, developed and maintained.