In this dissertation, we introduce a new algorithm for generating simulation relations between nonlinear control systems that are affine in inputs and disturbances and provide precise mathematical conditions ensuring that the algorithm works as intended. Moreover, we prove that under appropriate conditions, making the "right

choices" in the algorithm leads to a maximal simulation relation of the first system by the second. We also construct several illustrative examples showing in detail how the algorithm works in special instances and also indicate some of the limitations of the

algorithm.