We demonstrate a modeling and simulation technique that allows integrating controller/plant behavior specified in numerical solvers, such as Simulink and Modelica, within the SysML model. This allows the mixing of discrete and continuous behaviors in a context of a system model that can be simulated as a complete system level specification. Our approach involves code generation, rather than semantic mappings or model transformation of behaviors, combined with the capability to transform the interface and type specification from one modeling language to the other. Using such complementary languages/tools allows the specification of a complete design model that can be simulated for various purposes such as verification and validation and trade studies. © 2013 IEEE.