This course is designed to equip students with a fundamental set of modeling. At the successful completion of the course, students learn how to create mathematical models of physical, multi-energy domain systems involving power and information exchanges that can be effectively solved on a computer for the purposes of performance evaluation, design sensitivity studies, control system design, and so on. Students are introduced to unified approaches to abstracting systems into models, regardless of whether the system in question involves mechanical, fluid, or electrical energy or any combination thereof. Among several techniques, Bond Graphs are emphasized and their relationship with other models is covered. Distributed parameter systems and switching systems are also introduced.