The following is essentially the first part of Chapter XV of a set of notes prepared for a course in Hybrid Computation by Walter J. Karplus (Department of Engineering, Univ. of California) and George A. Bekey. It is one of the series on Education in Simulation promised in the editorial "Education: A Vital Responsibility" in the January issue of SIMULATION.
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George A. Bekey (1964) studied this question.
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