A mathematical model is a description of a real-world phenomenon or fact using mathematical concepts and language. There are several steps to developing a mathematical model, beginning with a mental model and progressing to a graphic, verbal, and fully mathematical model. Common types of mathematical models include linear models, polynomial models, and differential equations used to model physical systems. Henry Darcy developed a mathematical model called Darcy's Law to describe flow through porous media based on experiments measuring flow rates through sand. Darcy's Law relates flow rate to factors like permeability, fluid properties, and pressure gradients.