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Journal of Complexity
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We define a general concept of a network of analog modules connected by channels, processing data from a metric space A, and operating with respect to a global continuous clock T. The inputs and outputs of the network are continuous streams u:T-A, and the input-output behaviour of the network with system parameters from A is modelled by a function @F:A^rxC[T,A]^p-C[T,A]^q(p,q0,r=0), where C[T,A] is the set of all continuous streams equipped with the compact-open topology. We give an equational specification of the network, and a semantics which involves solving a fixed point equation over C[T,A] using a contraction principle based on the fact that C[T,A] can be approximated locally by metric spaces. We show that if the module functions are continuous then so is the network function @F. We analyse in detail two case studies involving mechanical systems. Finally, we introduce a custom-made concrete computation theory over C[T,A] and show that if the module functions are concretely computable then so is @F.