diff --git a/Documentation/Impl_FMI.tex b/Documentation/Impl_FMI.tex
new file mode 100644
index 0000000..c7a01f7
--- /dev/null
+++ b/Documentation/Impl_FMI.tex
@@ -0,0 +1,72 @@
+\chapter{Functional Mock-up Interface TLM Plugin}
+Functional Mock-up Interface (FMI) is a tool-independent standard for connecting simulation tools \cite{blochwitz2009}. 
+One tool can export a model as a Functional Mockup Unit (FMU), a ZIP package with the file extension FMU. 
+This file is in turn loaded by the master simulation tool, which can connect and simulate the model.
+An FMU file contains a model description XML file called \texttt{modelDescription.xml}, binaries for different platforms and other optional content.
+It is important that the FMU contains a binary file for the platform where the master simulation tool is executed.
+
+There are two versions of the FMI standard: FMI for Co-Simulation and FMI for Model Exchange.
+The main difference is that FMUs for Co-Simulation contain their own built-in solvers, and only exchange data at predefined communication points.
+FMUs for Model Exchange require a solver in the master simulation tool.
+
+The TLM framework is able to simulate aggregated systems of connected sub-models using asynchronous TLM communication. 
+Input, output and bidirectional interfaces are supported.
+Bidirectional interfaces can be either 1D or 3D.
+It is also possible to specifiy physical domains such as mechanical, rotational or hydraulic.
+Including FMUs in the TLM framework requires a wrapper.
+\texttt{FMIWrapper} is a generic wrapper for connecting functional mockup units (FMUs) to the TLM framework.
+It uses the FMI Library from Modelon \cite{modelon2015} to load an FMU, and the TLMPlugin for socket communication with the framework, see figure \ref{fig:overview}.
+
+\begin{figure}[ht]
+\begin{tikzpicture}
+\def\dx{0.0495*\textwidth}
+
+\node[rectangle,draw,thick, 
+      minimum width=5*\dx, 
+      minimum height=5*\dx, 
+      text depth=5*\dx-20pt] () {FMIWrapper};
+
+\node[rectangle, draw, thick, 
+      minimum width=3*\dx, 
+      minimum height=3*\dx, 
+      xshift=2.5*\dx,
+      fill=white] (tp1) {TLMPlugin};
+      
+\node[rectangle, draw, thick, 
+      minimum width=3*\dx, 
+      minimum height=3*\dx, 
+      xshift=-2.5*\dx,
+      fill=white] (fl) {FMILibrary};
+      
+\node[rectangle, draw, thick, 
+      minimum width=3*\dx, 
+      minimum height=3*\dx, 
+      xshift=-7.5*\dx] (fmu) {xmodel.fmu};
+
+\node[rectangle, draw, thick, 
+      minimum width=3.5*\dx, 
+      minimum height=5*\dx, 
+      text depth=5*\dx-20pt,
+      xshift=9.25*\dx,
+      fill=white] () {TLMManager};
+
+\node[rectangle, draw, thick, 
+      minimum width=3*\dx, 
+      minimum height=3*\dx, 
+      xshift=7.5*\dx,
+      fill=white] (tp2) {TLMPlugin};
+
+\draw[thick,->,very thick] (fmu) edge[bend left] (fl);
+\draw[thick,<-,very thick] (fmu) edge[bend right] (fl);
+\draw[thick,->,very thick] (fl) edge[bend left] (tp1);
+\draw[thick,<-,very thick] (fl) edge[bend right] (tp1);
+\draw[thick,->,very thick] (tp1) edge[bend left] (tp2);
+\draw[thick,<-,very thick] (tp1) edge[bend right] (tp2);
+\end{tikzpicture}
+\caption{FMIWrapper uses FMILibrary to import FMUs, and TLMPlugin for socket communication.}
+\label{fig:overview}
+\end{figure}
+
+Both FMI for co-simulation and FMI for model exchange are supported. 
+Model exchange requires a solver in the wrapper executable.
+For this reason, the CVODE and IDA solvers from the Sundials package are included.
diff --git a/Documentation/MM_FMI.tex b/Documentation/MM_FMI.tex
new file mode 100644
index 0000000..f892177
--- /dev/null
+++ b/Documentation/MM_FMI.tex
@@ -0,0 +1,329 @@
+\chapter{Importing Functional Mock-up Units}
+\label{MMFMI}
+
+\section{Setting up a simulation}
+\label{sec:setting_up}
+The FMI wrapper is started by the StartTLMFMIWrapper startup script.
+This script generates the \texttt{tlm.config} file and calls the FMIWrapper executable.
+The executable takes the following arguments:\\
+
+\noindent \verb|FMIWrapper <path> <fmufile> <solver> <debug>|\\
+
+Example:\\
+
+\noindent \verb|FMIWrapper C:\temp\folder mymodel.fmu solver=CVODE -d|\\
+
+The last to arguments are optional.
+Available solvers are \texttt{Euler}, \texttt{RungeKutta}, \texttt{CVODE} and \texttt{IDA}.
+Section \ref{sec:fmi_me} contains more details about the different solvers.
+These can currently only be changed by modifying the startup script, i.e. not from the graphical interface.
+
+An FMU keep track of its variables by integer numbers called \texttt{value references}.
+However, it does not provide any information about the mapping between its variables and the TLM interface.
+Hence, this information must be provided by the user.
+A configuration file called \texttt{fmi.config} is used for this purpose, see listing \ref{lst:fmiconfig}.
+
+\lstdefinelanguage{fmiconfig}
+{
+  % list of keywords
+  keywords={
+    substeps,
+    name
+  },
+  keywords=[2]{
+    position,
+    orientation,
+    speed,
+    ang_speed,
+    force
+  },
+  keywordstyle=\ttfamily\bfseries\textcolor{blue},
+  keywordstyle=[2]\ttfamily\bfseries
+ % sensitive=false, % keywords are not case-sensitive
+ % morecomment=[l]{//}, % l is for line comment
+ % morecomment=[s]{/*}{*/}, % s is for start and end delimiter
+ % morestring=[b]" % defines that strings are enclosed in double quotes
+}
+
+\begin{lstlisting}[language=fmiconfig,basicstyle=\ttfamily,floatplacement=ht,caption=A configuration file maps value references to TLM variables,label=lst:fmiconfig]
+substeps,10
+
+name,tlm1
+dimensions,6
+causality,Bidirectional
+domain,Mechanical
+position,6,7,8
+orientation,136,139,142,137,140,143,138,141,144
+speed,9,10,11
+ang_speed,145,146,147
+force,133,134,135,167,168,169
+
+name,tlm2
+dimensions,1
+causality,Bidirectional
+domain,Mechanical
+position,12
+speed,15
+force,136
+
+name,input1
+dimensions,1
+causality,Input
+domain,Signal
+value,16
+
+name,output1
+dimensions,1
+causality,Output
+domain,Signal
+value,17
+\end{lstlisting}
+\newpage
+As can be seen, data is stored in a comma-separated format.
+The first line specifies the number of substeps used for FMI for Co-Simulation (see section \ref{sec:fmi_cs}).
+After this comes the port information.
+Each port is specified by name, dimensions, causality and domain, followed by a list of variables depending on the port type.
+The numbers after each variable are the value references.
+These can be obtained by analyzing the \texttt{modelDescription.xml} file.
+Listing \ref{lst:modeldescription} shows an example.
+The variable first torque component has the value reference 167.
+Hence, this number should be inserted as number four on the "force" line in \texttt{fmi.config}.
+
+\begin{lstlisting}[language=XML,float,floatplacement=ht,caption=Value references for variables are obtained from \texttt{modelDescription.xml},label=lst:modeldescription]
+  <ScalarVariable
+    name="fMITLMInterface3D1.t[1]"
+    valueReference="167"
+    variability="continuous"
+    causality="local">
+    <Real/>
+  </ScalarVariable>
+\end{lstlisting}
+
+
+\clearpage
+\section{FMI for Co-Simulation}
+\label{sec:fmi_cs}
+With FMI for Co-Simulation the solver is embedded within the FMU.
+Variables can only be exchanged at predefined communication points.
+Hence, it is not possible for the solver to obtain interpolated force variables during internal iteration steps.
+Keeping the force constant during the entire communication interval may, however, have a negative effect on numerical stability.
+For this reason it is possible to divide each communication interval into a fixed number of \textit{sub steps}, as defined in the \texttt{fmi.config}.
+In this way the forces can at least be updated in the FMU at more fine-grained intervals.
+Pseudo-code for the simulation loop in the wrapper is shown in listing \ref{lst:wrapper_cs}.
+The real code also contains error handling, but it has been excluded here to enhance readability.
+
+\lstset{emph={fmu},emphstyle={\color{red}\bfseries},
+        emph={[2]TLMPlugin},emphstyle={[2]\color{blue}\bfseries}
+}
+\begin{lstlisting}[language=c++, basicstyle=\ttfamily\small,floatplacement=htb,caption=Pseudo code for the simulation loop with FMI for co-simulation,label=lst:wrapper_cs]
+while (tcur < tend) {
+    double hsub = hmax/nSubSteps;
+    for(size_t i=0; i<nSubSteps; ++i) {
+        x = fmu.get_real(x_vr,3);
+        T = fmu.get_real(T_vr,9);
+        v = fmu.get_real(v_vr,3);
+        w = fmu.get_real(w_vr,3);
+        f = TLMPlugin.GetForce(tcur,x,T,v,w);
+        fmu.set_real(f_vr[j],6,f);
+        
+        TLMPlugin.SetMotion(tcur,x,T,v,w);
+
+        fmu.do_step(tcur,hsub);
+        tcur+=hsub;
+
+        x = fmu.get_real(x_vr,3);
+        T = fmu.get_real(T_vr,9);
+        v = fmu.get_real(v_vr,3);
+        w = fmu.get_real(w_vr,3);
+    }
+}
+\end{lstlisting}
+
+Note that it is necessary to read the motion variables from the FMU before obtaining the force from the TLMPlugin. 
+At the end of each major step it is also necessary to call \texttt{GetForce()} before calling \texttt{SetMotion()}.
+The reason for this is that \texttt{SetMotion()} requires updated input variables which are retreived by \texttt{GetForce()}.
+
+\vspace{0cm}
+
+\clearpage
+\section{FMI for model exchange}
+\label{sec:fmi_me}
+With model exchange, the wrapper must provide a solver for the FMU.
+Three solvers are available: explicit Euler, 4th order explicit Runge-Kutta, and the CVODE and IDA solvers from Sundials \cite{hindmarsh2005}.
+Listing \ref{lst:wrapper_me} shows pseudo code for one major step (i.e. one communication interval) with the IDA solver.
+Note that the solver is used with one step mode.
+This means that it takes one step at a time, until its internal time exceeds the next communication interval.
+The CVODE solver requires a callback function for obtaining derivatives of state variables (i.e. "right-hand side").
+The IDA solver requires a similar callback for obtaining the residuals.
+
+\begin{lstlisting}[language=c++, basicstyle=\ttfamily\small,floatplacement=h,caption=Pseudo code for the simulation loop with FMI for model exchange,label=lst:wrapper_me]
+double position[3],orientation[9],speed[3],ang_speed[3],force[6];
+
+x = fmu.get_real(x_vr,3);
+T = fmu.get_real(T_vr,9);
+v = fmu.get_real(v_vr,3);
+w = fmu.get_real(w_vr,3);
+f = TLMPlugin.GetForce(tcur,x,T,v,w);
+fmu.set_real(f_vr[j],6,f);
+
+y = fmu.get_continuous_states();
+dy = fmu.get_derivatives();
+
+tcur += h;
+
+while(tc < tcur){
+    IDASolve(mem, tcur, &tc, y, dy, IDA_ONE_STEP);
+}
+
+fmu.set_continuous_states(y);
+\end{lstlisting}
+
+\clearpage
+\section{Example: Double Pendulum with Dymola and OpenModelica}
+This section will explain how to build a meta model of a double pendulum using FMUs exported from Dymola and OpenModelica.
+Figure \ref{fig:double_pendulum} shows a sketch of the model.
+The resulting meta model is found in the \texttt{/MetaModels/FmuFmuPendulum} folder.
+One FMU for Co-simulation and one for Model Exchange will be used.
+Both models use a custom Modelica library called FMILIB for the TLM interfaces.
+This library is shipped together with the FMI wrapper.
+
+\begin{figure}[ht]
+\centering
+\begin{tikzpicture}
+\node[draw,thick,minimum width=3cm,rectangle,rotate=-45,fill=white,xshift=1.5cm] (beam1) {};
+\draw[thick,loop] (0,0) -- (0.5cm,0.5cm) -- (-0.5cm,0.5cm) -- (0,0);
+\node[draw,thick,circle,minimum width=0.5cm,fill=white] () {};
+\node[draw,thick,minimum width=3cm,rectangle,rotate=-30,fill=white,xshift=1.5cm] at(beam1.east) (beam2) {};
+\node[draw,thick,circle,minimum width=0.5cm,fill=white] at (beam1.east) () {};
+
+\draw[thick,dashed] (-1cm,1.5cm) -- node[below] () {Dymola} (2cm,1.5cm) -- (2cm,-0.0cm) -- (-0.0cm,-2cm) -- (-1cm,-2cm) -- (-1cm,1.5cm);
+
+\draw[thick,dashed] (0.1cm,-2.1cm) -- (2.1cm,-0.1cm) --node[below] () {OpenModelica} (5.2cm,-0.1cm) -- (5.2cm,-4.1cm) -- (0.1cm,-4.1cm) -- (0.1cm,-2.1cm);
+\end{tikzpicture}
+\caption{A double pendulum is simulated using FMUs exported from Dymola and OpenModelica}
+\label{fig:double_pendulum}
+\end{figure}
+
+\subsection{Preparing Dymola FMU of first part pendulum}
+
+The Dymola model consists of half the first pendulum and the fixed attachment to the inertial system, see figure \ref{fig:model_dymola}.
+It is normally advisable to decouple a model at its weakest point, which in this case would be at the joint between the two pendulum arms.
+In this case the model is decoupled in the middle of the first pendulum only to demonstrate the possibilities.
+Force and torque variables must be specified as input variables at the top level of the model, in order to get the correct number of equations and variables.
+Hence, we need to add the equations shown in listing \ref{lst:dymola_equations}.
+
+\begin{lstlisting}[language=Modelica,basicstyle=\small\ttfamily, floatplacement=ht,label=lst:dymola_equations,caption=Input variables must be specified on top level in the Modelica models]
+  [...]
+  //Define FMI interface model
+  FMITLM.FMITLM_Interface_3D.FMITLMInterface3D fMITLMInterface3D;
+  
+  //Define input force and input torque
+  input Real f[3](start = zeros(3));
+  input Real t[3](start = zeros(3));
+equation
+  //Assign force and torque in interface model with input variables
+  fMITLMInterface3D.f = f;
+  fMITLMInterface3D3D.t = t;
+  [...]
+\end{lstlisting}
+
+\begin{figure}[ht]
+\centering
+\includegraphics[width=0.65\textwidth]{figs/model_dymola.png}
+\caption{The first half of the first beam is modelled in Dymola}
+\label{fig:model_dymola}
+\end{figure}
+
+Now it is time to export the model so it can be used with the framework.
+\begin{enumerate}
+\item \textbf{Transform the model to an FMU for co-simulation.}\\
+      Use a suitable solver, for example CVODE.
+\item \textbf{Put the \texttt{.fmu} file in a new subfolder.}
+\item \textbf{Create an empty text file called \texttt{fmi.config} in the same folder.}
+\item \textbf{Specify number of substeps on the first line.}\\
+              For example: "substeps,10"
+\item \textbf{Open \texttt{modelDescription.xml}.}\\
+              By opening the \texttt{.fmu} as a zip package.
+\item \textbf{Locate the TLM variables and write the value references in \texttt{fmi.config}.}\\
+              The desired variables are position, orientation, velocity, angular velocity, force and torque:\\
+              \texttt{fMITLMInterface3D.r[x]}, \texttt{fMITLMInterface3D.A[x,y]},\\
+              \texttt{fMITLMInterface3D.v[x]}, \texttt{fMITLMInterface3D.w[x]},\\
+              \texttt{fMITLMInterface3D.f[x]}, \texttt{fMITLMInterface3D.t[x]}
+\item \textbf{Enter the value reference for each variable in \texttt{fmi.config}.}\\
+              See section section \ref{sec:setting_up} for more information.              
+\end{enumerate}
+
+\subsection{Preparing OpenModelica FMU of second part of pendulum}
+The OpenModelica model as shown in figure \ref{fig:model_omedit} consists of the second half of the first beam and the second beam.
+The export process is exactly the same as for Dymola, except that the FMU exported should be for model exchange.
+
+\begin{figure}[ht]
+\centering
+\includegraphics[width=0.85\textwidth]{figs/model_omedit.png}
+\caption{The second half of the first beam and the second beam  are modelled in OpenModelica}
+\label{fig:model_omedit}
+\end{figure}
+
+\subsection{Building co-simulation system model}
+
+When both FMUs have been generated together with one \texttt{fmi.config} file each, it is time to build the meta model.
+\begin{enumerate}
+\item \textbf{Create a new meta model.}\\
+             Either by hand or by using the graphical user interface.
+\item \textbf{Add the FMUs as sub-models.}\\
+              Use \texttt{StartTLMFmiWrapper} as start command.
+\item \textbf{Fetch TLM interfaces.}
+\item \textbf{Add a connection between the two models.}\\
+              Default TLM parameters should work fine.
+\item \textbf{Make sure interfaces are aligned.}
+\item \textbf{Choose solver for model exchange.}\\
+              By editing \texttt{StartTLMFmiWrapper.bat}.\\
+              Use for example \texttt{solver=CVODE} or \texttt{solver=IDA}.
+\end{enumerate}
+
+When done, the meta model XML file should look similar to listing \ref{lst:metamodel_xml}.
+In the graphical interface, the meta model should look like figure \ref{fig:metamodel_omedit}.
+The model is now ready to be simulated!
+
+\begin{lstlisting}[language=xml,float,floatplacement=ht,label={lst:metamodel_xml},caption=XML description of the complete meta model]
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<Model Name="doublePendulum">
+  <SubModels>
+    <SubModel Name="doublePendulum1" 
+              ModelFile="doublePendulum1.fmu"
+              StartCommand="StartTLMFmiWrapper" 
+              Position="0,0,0" 
+              Angle321="0,0,0">
+      <InterfacePoint Name="tlm" 
+                      Position="0.25,0,0" 
+                      Angle321="0,0,0"/>
+    </SubModel>
+    <SubModel Name="doublePendulum2" 
+              ModelFile="doublePendulum2.fmu" 
+              StartCommand="StartTLMFmiWrapper" 
+              Position="0.25,0,0"  
+              Angle321="0,0,0">
+      <InterfacePoint Name="tlm" 
+                      Position="0,0,0" 
+                      Angle321="0,0,0"/>
+    </SubModel>
+  </SubModels>
+  <Connections>
+    <Connection From="doublePendulum1.tlm" 
+                To="doublePendulum2.tlm" 
+                Delay="1e-4" 
+                Zf="10000"   
+                Zfr="100"
+                alpha="0.2">
+    </Connection>
+  </Connections>
+  <SimulationParams ManagerPort="11113" StopTime="3" StartTime="0"/>
+</Model>
+\end{lstlisting}
+
+\begin{figure}[ht]
+\centering
+\includegraphics[width=0.75\textwidth]{figs/metamodel.png}
+\caption{Graphical view of the complete meta model}
+\label{fig:metamodel_omedit}
+\end{figure}
\ No newline at end of file
diff --git a/Documentation/TLMPlugin.pdf b/Documentation/TLMPlugin.pdf
index f32ec90..c6ddd38 100644
Binary files a/Documentation/TLMPlugin.pdf and b/Documentation/TLMPlugin.pdf differ
diff --git a/Documentation/TLMPlugin.tex b/Documentation/TLMPlugin.tex
index 75019db..5bca9ee 100644
--- a/Documentation/TLMPlugin.tex
+++ b/Documentation/TLMPlugin.tex
@@ -20,11 +20,13 @@
 \usepackage{afterpage} % Clear floats after each page
 \usepackage{datetime}
 \usepackage{tikz}
+\usepackage{listings}
 
 \usepackage{eepic}
 \usepackage{epic}
 \usepackage{rotating}
 
+\input{listings-modelica.cfg}
 
 \titleformat{\chapter}[display]{\normalfont\Large\bfseries\color[rgb]{0,0.4,0.796078431372549}}{\normalfont\huge\bfseries\chaptername \space \thechapter}{16pt}{\Huge}
 \titleformat{\part}[display]{\centering\normalfont\Large\bfseries\color[rgb]{0,0.4,0.796078431372549}}{\centering\normalfont\huge\bfseries\partname~\thepart}{16pt}{\Huge}
@@ -142,12 +144,14 @@
 \input{Impl_Adams}
 \input{Impl_BEAST}
 \input{Impl_Modelica}
+\input{Impl_FMI}
 
 %\chapter{Modelling}
 \input{MM_Adams}
 \input{MM_Simulink}
 \input{MM_Beast}
 \input{MM_Modelica}
+\input{MM_FMI}
 
 %\input{RunningMMCoSim}
 
diff --git a/Documentation/TLM_background.tex b/Documentation/TLM_background.tex
index 5f925ed..e0d8c54 100644
--- a/Documentation/TLM_background.tex
+++ b/Documentation/TLM_background.tex
@@ -9,9 +9,9 @@ \chapter{TLM background theory}
 \begin{figure}
 \begin{center}
    {\includegraphics[width=9cm]{figs/TLMline.png}}
-\caption{Delay line with the passing wave variables $c_1$ and $c_2$
-and velocity variables $v_1$ and $v_2$.}
 \end{center}
+\caption{Delay line with the passing wave variables $c_1$ and $c_2$
+	and velocity variables $v_1$ and $v_2$.}
 \label{figTLMline}
 \end{figure}
 
@@ -53,8 +53,8 @@ \chapter{TLM background theory}
 \begin{figure}
 \begin{center}
    {\includegraphics[width=9cm]{figs/RotStiff.png}}
-\caption{Estimating the rotational stiffness.}
 \end{center}
+\caption{Estimating the rotational stiffness.}
 \label{figRotStiff}
 \end{figure}
 
diff --git a/Documentation/bibliography.tex b/Documentation/bibliography.tex
index 83fa6ab..e2d6fec 100644
--- a/Documentation/bibliography.tex
+++ b/Documentation/bibliography.tex
@@ -171,4 +171,18 @@
 	 {\em An Open-Source Graphical Composite Modeling Editor and Simulation Tool Based on {FM}I and {TLM} Co-Simulation},
 		Proceedings of the 11th International Modelica Conference, Versailles, France, September 2015
 
+\bibitem{hindmarsh2005} Hindmarsh, A.~C. and Brown, P.~N. and Grant, K.~E. and Lee, S.~L. and Serban, R. and Shumaker, D.~E. and Woodward, C.~S.
+    {\em {SUNDIALS}: Suite of nonlinear and differential/algebraic equation solvers},
+    ACM Transactions on Mathematical Software (TOMS), 2005
+
+\bibitem{blochwitz2009} Blochwitz, T. and Otter M. and Arnold M. and Bausch C. and Clau{\ss} C. and Elmqvist H. and Junghanns A. and Mauss J. and Monteiro M. and Neidhold T. and Neumerkel D. and Olsson H. and Peetz J.~V. and Wolf S.
+    {\em The {Functional Mockup Interface} for Tool independent Exchange of Simulation Models},
+	8th International Modelica Conference 2011, Como, Italy, September 2009
+
+\bibitem{modelon2015} Modelon AB,
+{\em FMI Library: part of JModelica.org},
+http://www.jmodelica.org/FMILibrary, 
+Last visited on 10 October 2016
+
+
 \end{thebibliography}
diff --git a/Documentation/figs/metamodel.png b/Documentation/figs/metamodel.png
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diff --git a/Documentation/figs/model_dymola.png b/Documentation/figs/model_dymola.png
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diff --git a/Documentation/figs/model_omedit.png b/Documentation/figs/model_omedit.png
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diff --git a/Documentation/listings-modelica.cfg b/Documentation/listings-modelica.cfg
new file mode 100644
index 0000000..26530db
--- /dev/null
+++ b/Documentation/listings-modelica.cfg
@@ -0,0 +1,69 @@
+%% listings-modelica.cfg
+%% Copyright 2014 Martin Sjoelund, Dietmar Winkler
+%
+% This work may be distributed and/or modified under the
+% conditions of the LaTeX Project Public License, either version 1.3
+% of this license or (at your option) any later version.
+% The latest version of this license is in
+%   http://www.latex-project.org/lppl.txt
+% and version 1.3 or later is part of all distributions of LaTeX
+% version 2005/12/01 or later.
+%
+% This work has the LPPL maintenance status `maintained'.
+%
+% The Current Maintainer of this work is Dietmar Winkler
+%
+% Code repository https://github.com/modelica-tools/listings-modelica
+%
+% This work consists of the file listings-modelica.cfg
+
+\lstdefinelanguage{modelica}
+{
+  morekeywords=[1]{
+    algorithm,and,annotation,as,assert,block,break,case,class,connect,connector,
+    constant,constrainedby,der,discrete,each,else,elseif,elsewhen,encapsulated,
+    end,enumeration,equality,equation,expandable,extends,external,failure,final,
+    flow,for,function,guard,if,import,in,initial,inner,input,List,local,loop,
+    match,matchcontinue,model,not,operator,Option,or,outer,output,package,parameter,
+    partial,protected,public,record,redeclare,replaceable,return,stream,
+    subtypeof,then,Tuple,type,uniontype,when,while},
+  morekeywords=[2]{true, false},
+  % Do not make true,false keywords because fn(true,x, false ) shows up as fn(true,x, *false*)
+  sensitive=true,
+  comment=[l]//,
+  morecomment=[s]{/*}{*/},
+  alsodigit={.,-},
+  morestring=[b]',
+  morestring=[b]",
+}[keywords,comments,strings]
+
+\definecolor{keywordcolor1}{rgb}{0,0,.4}
+\definecolor{keywordcolor2}{rgb}{.90,0,0}
+\definecolor{stringcolor}{rgb}{0.133,0.545,0.133}
+% \definecolor{listingbgcolor}{rgb}{0.95,0.95,0.95}
+
+\lstset{
+  breaklines=true,
+  language=modelica,
+  basicstyle=\ttfamily,
+  keywordstyle=[1]\color{keywordcolor1}\bfseries,
+  keywordstyle=[2]\color{keywordcolor2},
+  stringstyle=\color{stringcolor},
+%  backgroundcolor=\color{listingbgcolor},
+  framexleftmargin=5pt,
+  xleftmargin=5pt,
+  xrightmargin=5pt,
+  showstringspaces=false,
+}
+
+\lstset{breaklines=true,label=}
+% \lstset{basicstyle=\ttfamily}
+
+\newcommand{\code}[1]{\texttt{\hyphenchar%
+\font45%
+\sloppy%
+\fontdimen2\font=0.4em%
+\fontdimen3\font=0.2em%
+\fontdimen4\font=0.1em%
+\fontdimen7\font=0.1em%
+ #1}}