A practical introduction to modeling electrical machines with Modelica. Includes a GitHub tutorial on organizing, developing, and maintaining Modelica libraries and simulation examples. Virtual experiments are becoming increasingly important in the development process of electrical machines and drive systems. Modelica is an object-oriented modeling language used to describe complex physical systems through mathematical equations. This textbook covers the fundamentals of modeling rotating electrical field machines. Based on the developed object-oriented models, asynchronous, synchronous, and synchronous reluctance machines are treated and discussed in detail. Selected simulation experiments with practical relevance are part of the open-source available Modelica Standard Library, complementing each of the individual machines.