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Vehicle manufacturers are constantly faced with the challenge of balancing fuel efficiency and safety against the demands for greater performance. This, along with the growing need for reducing design and prototyping costs, has led to the implementation of many innovations; not only in features of the vehicle components, but also in the design and development process of those features. Through the use of model-based design and virtual prototyping, automotive manufacturers have been able to reduce design and prototyping costs significantly while fulfilling the demands of government and markets. The demand for better understanding of the dynamics – and the ability to produce high-fidelity mathematical (or “physical”) models of vehicular systems that can be used in HIL systems to test prototype controllers - has reached a critical point for many companies.