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Pervasive Computing is about interconnected and situated computing resources providing us(ers) with contextual services. These systems, embedded in the fabric of our daily lives, are complex: numerous interconnected and heterogeneous entities are exhibiting a global behavior impossible to forecast by merely observing individual properties. Firstly, users physical interactions and behaviors have to be considered. They are influenced and influence the environment. Secondly, the potential multiplicity and heterogeneity of devices, services, communication protocols, and the constant mobility and reorganization also need to be addressed. This article summarizes our research on this field towards both closing the loop between humans and systems and taming the complexity, using multi-modeling (to combine the best of each domain specific model) and co-simulation (to design, develop and evaluate) as part of a global conceptual and practical toolbox. We share our vision for a strong research (and development) leading to the realization of Pervasive Computing.