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Formal verification of computer-based engineeringsystems is only meaningful if the mathematical models usedare derived systematically, recording the assumptions made ateach modelling stage. In this paper we give an exposition of research efforts incooperation with aerospace industries in Sweden. Weemphasize the need for modelling techniques and languages covering thewhole spectrum from informal engineering documents, to hybridmathematical models. In this modelling process we give as much weightto the physical environment as to the controlling software. In particular, we report on ourexperience using switched bond graphs for the modelling of hardwarecomponents in hybrid systems.We present the basic ideas underlying bond graphs and illustrate the approach by modelling an aircraft landing gear system. This system consists of actuating hydromechanic andelectromechanic hardware, as well as controlling components implemented in software and electronics. We present a detailed analysis of the closed loop systemwith respect to safety and timeliness properties. The proofs are carried out within the proof system of Extended Duration Calculus.