Modeling, Stability Analysis, and Testing of a Hybrid Docking Simulator
  A hybrid docking simulator is a hardware-in-the-loop (HIL) simulator that includes a hardware element within a numerical simulation loop. One of the goals of performing a HIL simulation at the European Proximity Operation Simulator (EPOS) is the verification and validation of the docking phase in an on-orbit servicing mission..... 
M. Zebenaya, T. Boge, D. Choukroun
cs.OH