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Introduction to Object-Oriented Modeling and Simulation with OpenModelica (PDF format, 6.6 MB) - a more recent tutorial (2012) by Peter Fritzson |
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The Modelica Tutorial, version 1.4 (PDF format, 180 Kbyte) gives a comprehensive overview of all language elements with many practical examples. This version refers to Modelica version 1.4, but works still well as an introductory text. |
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Using Modelica for modeling physiological systems by Jiří Kofránek and Filip Ježek (PDF, 12 MB, in Russian) is a comprehensive tutorial with a focus on physiological modeling rather than general Modelica constructs. |