The systems approach to innovation research has generated a significant body of literature on different types of innovation systems, with a primary focus on actors and institutions. The conceptual development of innovation approaches has shown a shift in focus from innovation systems to innovation ecosystems, from competition to cooperation. The elements of an innovation ecosystem are seen as interconnected through complementarity, cooperation, and substitution (CS-relationships), which provide a balanced management of the innovation ecosystem and an understanding of what is happening in the innovation ecosystem.