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According to the (relatively new) Joomla manual, this should be done quite simply in the controller:

/* In the Controller class */
public function display($cachable = false, $urlparams = false)
{
    // Load another model from the controller
    $messagesModel = $this->getModel('Messages');
    
    // Load the current view
    $view = $this->getView();

    // Make the messages model available to the view
    $view->setModel($messagesModel);

    parent::display($cachable, $urlparams);
    return $this;
}

/* In the View class */

public function display($tpl = null)
{
    $default_model = $this->getModel();
    $messages_model = $this->getModel('Messages');
}