Abstract: A method of generating code for deploying on a target emulation platform for the emulation of at least an aspect of a hybrid system. The method includes receiving, retrieving or generating input hybrid automata (HA) data indicative of one or more hybrid automata models representing at least an aspect of the hybrid system. The input hybrid automata (HA) data are processed to statically determine whether each hybrid automata model satisfies one or more predefined well-formedness criteria to qualify as well-formed hybrid automata (WHA) models. The method transforms the well-formed hybrid automata (WHA) models into corresponding respective synchronous hybrid automata (SHA) models, and generates emulation code for deployment onto a target emulation platform based on the synchronous hybrid automata (SHA) models so an aspect or aspects of the hybrid system can be emulated on the target emulation platform in a semantic preserving manner.