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This book deals with formal and practical approaches for fast modeling and verification of complex digital processor hardware and software using SystemC-based virtual prototypes. As a special focus, modeling approaches of instruction-level behavior of System-on-Chips and the connected off-chip digital devices are addressed. Verification approaches are based on both symbolic execution of simulated hardware devices and classical discrete execution of the whole system with dynamic data flow tracking to analyze security policy rules. Case-Studies are conducted by developing and building on top of an open-source RISC-V SoC simulation.