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Model continuity refers to the ability to transition as much as possible a model specification through the stages of a development process. In this paper, the authors show how a modeling and simulation environment, based on the discrete event system specification formalism, can support model continuity in the design of dynamic distributed real-time systems. In designing such systems, the authors restrict such continuity to the models that implement the system's real-time control and dynamic reconfiguration. The proposed methodology supports systematic modeling of dynamic systems and adopts simulation-based tests for distributed real-time software. Model continuity is emphasized during the entire process of software development $the control models of a dynamic distributed real-time system can be designed, analyzed, and tested by simulation methods, and then smoothly transitioned from simulation to distributed execution. A dynamic team formation distributed robotic system is presented as an example to show how model continuity methodology effectively manages the complexity of developing and testing the control software for this system.