diff --git a/docs/generate.jl b/docs/generate.jl
index 5e00cfd13c..4d5e86ee91 100644
--- a/docs/generate.jl
+++ b/docs/generate.jl
@@ -1,41 +1,56 @@
 import Literate
-using Literate: script, markdown, notebook
 
-# source directory for model files written using Literate.jl format
 source_dir = joinpath(@__DIR__, "..", "examples")
-
-# target directory for the tests files (bare .jl files)
+# target directory for script files (*.jl) (used in the tests)
 target_dir_jl = joinpath(@__DIR__, "..", "test", "models", "generated")
-
-# target directory for the markdown files (used by Documenter)
+# target directory for markdown and notebook files (used by Documenter)
 target_dir_md = joinpath(@__DIR__, "src", "generated_examples")
 mkpath(target_dir_md)
 
-# model files in sub-directories of source_dir
-MODELS = ["Brusselator/Brusselator.jl",
-          "Building/Building.jl",
-          "DuffingOscillator/DuffingOscillator.jl",
-          "EMBrake/EMBrake.jl",
-          "Heat3D/Heat3D.jl",
-          "ISS/ISS.jl",
-          "LaubLoomis/LaubLoomis.jl",
-          "Lorenz/Lorenz.jl",
-          "LotkaVolterra/LotkaVolterra.jl",
-          "OpAmp/OpAmp.jl",
-          "SquareWaveOscillator/SquareWaveOscillator.jl",
-          "Platoon/Platoon.jl",
-          "ProductionDestruction/ProductionDestruction.jl",
-          "Quadrotor/Quadrotor.jl",
-          "SEIR/SEIR.jl",
-          "Spacecraft/Spacecraft.jl",
-          "TransmissionLine/TransmissionLine.jl",
-          "VanDerPol/VanDerPol.jl"]
+MODELS = [
+          "Brusselator",
+          "Building",
+          "DuffingOscillator",
+          "EMBrake",
+          "Heat3D",
+          "ISS",
+          "LaubLoomis",
+          "Lorenz",
+          "LotkaVolterra",
+          "OpAmp",
+          "SquareWaveOscillator",
+          "Platoon",
+          "ProductionDestruction",
+          "Quadrotor",
+          "SEIR",
+          "Spacecraft",
+          "TransmissionLine",
+          "VanDerPol"
+         ]
+
+for model in MODELS
+    model_path = abspath(joinpath(source_dir, model))
+    for file in readdir(model_path)
+        if endswith(file, ".jl")
+            input = abspath(joinpath(model_path, file))
+            script = Literate.script(input, target_dir_jl; credit=false)
+            code = strip(read(script, String))
+            mdpost(str) = replace(str, "@__CODE__" => code)
+            if get(ENV, "DOCUMENTATIONGENERATOR", "") == "true"
+                Literate.markdown(input, target_dir_md; postprocess=mdpost, credit=false)
+            else
+                # for the local build, one needs to set `nbviewer_root_url`
+                Literate.markdown(input, target_dir_md; postprocess=mdpost, credit=false, nbviewer_root_url="..")
+            end
 
-for file in MODELS
-    source_path = abspath(joinpath(source_dir, file))
-    text = script(source_path, target_dir_jl; credit=false)
-    code = strip(read(text, String))
-    mdpost(str) = replace(str, "@__CODE__" => code)
-    markdown(source_path, target_dir_md; postprocess=mdpost, credit=false)
-    notebook(source_path, target_dir_md; execute=true, credit=false)
+            # notebooks are deactivated to speed up the generation
+#             Literate.notebook(input, target_dir_md; execute=true, credit=false)
+# if used, add the following to the top of the script files (where `MODELNAME` is the model name):
+#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/MODELNAME.ipynb)
+        elseif any(endswith.(file, [".jld2", ".png"]))
+            # ignore *.jld2 and *.png files without warning
+        else
+            @warn "ignoring $file in $model_path"
+        end
+    end
 end
diff --git a/examples/Brusselator/Brusselator.jl b/examples/Brusselator/Brusselator.jl
index a12f5d3668..533e805810 100644
--- a/examples/Brusselator/Brusselator.jl
+++ b/examples/Brusselator/Brusselator.jl
@@ -1,5 +1,4 @@
 # # Brusselator
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Brusselator.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: polynomial continuous system\
diff --git a/examples/Building/Building.jl b/examples/Building/Building.jl
index c99755765d..5e24658021 100644
--- a/examples/Building/Building.jl
+++ b/examples/Building/Building.jl
@@ -1,5 +1,4 @@
 # # Building
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Building.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Affine system\
diff --git a/examples/DuffingOscillator/DuffingOscillator.jl b/examples/DuffingOscillator/DuffingOscillator.jl
index ecb249e4b7..283327a805 100644
--- a/examples/DuffingOscillator/DuffingOscillator.jl
+++ b/examples/DuffingOscillator/DuffingOscillator.jl
@@ -1,5 +1,4 @@
 # # Duffing Oscillator
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/DuffingOscillator.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: nonlinear\
diff --git a/examples/EMBrake/EMBrake.jl b/examples/EMBrake/EMBrake.jl
index e92bf61bed..ff81bba257 100644
--- a/examples/EMBrake/EMBrake.jl
+++ b/examples/EMBrake/EMBrake.jl
@@ -1,5 +1,4 @@
 # # Electromechanic break
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/EMBrake.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Affine system\
diff --git a/examples/Heat3D/Heat3D.jl b/examples/Heat3D/Heat3D.jl
index ca9fc29d36..63b545dd43 100644
--- a/examples/Heat3D/Heat3D.jl
+++ b/examples/Heat3D/Heat3D.jl
@@ -1,5 +1,4 @@
 # # Heat PDE
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Heat3D.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Affine system\
diff --git a/examples/ISS/ISS.jl b/examples/ISS/ISS.jl
index fc476ca663..d910c552c6 100644
--- a/examples/ISS/ISS.jl
+++ b/examples/ISS/ISS.jl
@@ -1,5 +1,4 @@
 # # Structural Model
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/ISS.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: linear time-invariant continuous system\
diff --git a/examples/LaubLoomis/LaubLoomis.jl b/examples/LaubLoomis/LaubLoomis.jl
index e2ffb10efb..6cc95465fc 100644
--- a/examples/LaubLoomis/LaubLoomis.jl
+++ b/examples/LaubLoomis/LaubLoomis.jl
@@ -1,5 +1,4 @@
 # # Laub-Loomis
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/LaubLoomis.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: polynomial with quadratic nonlinearities\
diff --git a/examples/Lorenz/Lorenz.jl b/examples/Lorenz/Lorenz.jl
index 4f23ace9f0..5738f8999f 100644
--- a/examples/Lorenz/Lorenz.jl
+++ b/examples/Lorenz/Lorenz.jl
@@ -1,5 +1,4 @@
 # # Lorenz equations
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Lorenz.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Continuous blackbox system\
diff --git a/examples/LotkaVolterra/LotkaVolterra.jl b/examples/LotkaVolterra/LotkaVolterra.jl
index c541a11412..5e1767549b 100644
--- a/examples/LotkaVolterra/LotkaVolterra.jl
+++ b/examples/LotkaVolterra/LotkaVolterra.jl
@@ -1,5 +1,4 @@
 # # Lotka-Volterra
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/LotkaVolterra.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Nonlinear system\
diff --git a/examples/LotkaVolterraTangential/LotkaVolterraTangential b/examples/LotkaVolterraTangential/LotkaVolterraTangential
index aa8ff6bf79..93e010f229 100644
--- a/examples/LotkaVolterraTangential/LotkaVolterraTangential
+++ b/examples/LotkaVolterraTangential/LotkaVolterraTangential
@@ -1,5 +1,4 @@
 # # Lotka-Voltera with Nonlinear Guard
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/LotkaVolterraGuard.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: hybrid system with nonlinear guard\
diff --git a/examples/OpAmp/OpAmp.jl b/examples/OpAmp/OpAmp.jl
index b5735535cf..fff22f02dc 100644
--- a/examples/OpAmp/OpAmp.jl
+++ b/examples/OpAmp/OpAmp.jl
@@ -1,5 +1,4 @@
 # # Amplifier circuit
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/OpAmp.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: linear continuous system with piecewise-linear input\
diff --git a/examples/Platoon/Platoon.jl b/examples/Platoon/Platoon.jl
index 567aa6a2ef..d14e4acdf9 100644
--- a/examples/Platoon/Platoon.jl
+++ b/examples/Platoon/Platoon.jl
@@ -1,5 +1,4 @@
 # # Vehicle Platoon Model
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Platoon.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: affine with hybrid dynamics\
diff --git a/examples/ProductionDestruction/ProductionDestruction.jl b/examples/ProductionDestruction/ProductionDestruction.jl
index 934f567cd5..239cb536c0 100644
--- a/examples/ProductionDestruction/ProductionDestruction.jl
+++ b/examples/ProductionDestruction/ProductionDestruction.jl
@@ -1,5 +1,4 @@
 # # Production-Destruction
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/ProductionDestruction.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: rational function\
diff --git a/examples/Quadrotor/Quadrotor.jl b/examples/Quadrotor/Quadrotor.jl
index 9a3b5f2b2a..8a16eb6ad4 100644
--- a/examples/Quadrotor/Quadrotor.jl
+++ b/examples/Quadrotor/Quadrotor.jl
@@ -1,5 +1,4 @@
 # # Quadrotor
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Quadrotor.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: polynomial continuous system\
diff --git a/examples/SEIR/SEIR.jl b/examples/SEIR/SEIR.jl
index a269988d9c..4fa73774f0 100644
--- a/examples/SEIR/SEIR.jl
+++ b/examples/SEIR/SEIR.jl
@@ -1,5 +1,4 @@
 # # SEIR
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/SEIR.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: Nonlinear system\
diff --git a/examples/Spacecraft/Spacecraft.jl b/examples/Spacecraft/Spacecraft.jl
index e0ba45c118..9a9cb88bd0 100644
--- a/examples/Spacecraft/Spacecraft.jl
+++ b/examples/Spacecraft/Spacecraft.jl
@@ -1,5 +1,4 @@
 # # Spacecraft
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/Spacecraft.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: hybrid system with nonlinear dynamics\
diff --git a/examples/SquareWaveOscillator/SquareWaveOscillator.jl b/examples/SquareWaveOscillator/SquareWaveOscillator.jl
index 82d4b502a9..f2eb196550 100644
--- a/examples/SquareWaveOscillator/SquareWaveOscillator.jl
+++ b/examples/SquareWaveOscillator/SquareWaveOscillator.jl
@@ -1,5 +1,4 @@
 # # Square Wave Oscillator
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/SquareWaveOscillator.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: linear hybrid\
diff --git a/examples/TransmissionLine/TransmissionLine.jl b/examples/TransmissionLine/TransmissionLine.jl
index 84ff699c00..7c1d364fc9 100644
--- a/examples/TransmissionLine/TransmissionLine.jl
+++ b/examples/TransmissionLine/TransmissionLine.jl
@@ -1,7 +1,5 @@
 # # Transmission line circuit
 #
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/TransmissionLine.ipynb)
-#
 #md # !!! note "Overview"
 #md #     System type: linear continuous system\
 #md #     State dimension: parametric, typically between 4 to 40\
diff --git a/examples/VanDerPol/VanDerPol.jl b/examples/VanDerPol/VanDerPol.jl
index 30ffaa5a32..cc12c5a466 100644
--- a/examples/VanDerPol/VanDerPol.jl
+++ b/examples/VanDerPol/VanDerPol.jl
@@ -1,5 +1,4 @@
 # # Van der Pol oscillator
-#md # [![](https://img.shields.io/badge/show-nbviewer-579ACA.svg)](@__NBVIEWER_ROOT_URL__/generated_examples/VanDerPol.ipynb)
 #
 #md # !!! note "Overview"
 #md #     System type: polynomial continuous system\