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This paper presents a novel model-based testing approach developed in the MOGENTES project. The aim is to test embedded systems controlling a continuous environment, i.e., hybrid systems. We present our two key abstractions against which we systematically test for conformance. (1) Classical action systems are used to model the discrete controller behavior. (2) Qualitative differential equations are used to model the evolutions of the environment. The latter is based on a technique from the domain of Artificial Intelligence called qualitative reasoning. Mutation testing on these models is used to generate effective test cases. A test case generator has been developed that searches for all test cases that would kill a mutant. The mutant models represent our fault models. The generated test cases are then executed on the implementation in order to systematically exclude the possibility that a mutant has been implemented.