https://peeterjoot.com/2014/10/29/ece1254h-modeling-of-multiphysics-systems-lecture-13-continuation-parameters-and-simulation-of-dynamical-systems-taught-by-prof-piero-triverio/
ECE1254H Modeling of Multiphysics Systems. Lecture 13: Continuation parameters and Simulation of dynamical systems. Taught by Prof. Piero Triverio