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We characterize stability under composition of ultradifferentiable classes defined by weight sequences M, by weight functions ω, and, more generally, by weight matrices , and investigate continuity of composition (g,f) ↦ f ∘ g. In addition, we represent the Beurling space ${}^{\left(\omega \right)}$ and the Roumieu space ${}^{\omega }$ as intersection and union of spaces ${}^{\left(M\right)}$ and ${}^M$ for associated weight sequences, respectively.