Dymola is a modelling and simulation tool that utilises new techniques focused on physical modelling. A model in Dymola is built graphically from component models that represent physical parts. The component models are defined using the Modelica modelling language, which means they are defined in a non-causal way. Dymola transforms this non-causal model definition into efficient simulation code using symbolic manipulation. A wide range of model libraries are available for Dymola that enable the whole vehicle system to be modelled in one environment
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Mike Dempsey (2006) studied this question.