In saucepan, saute onions in canola oil until translucent. Add maple syrup, orange juice, orange peel, lemon juice and dry mustard and simmer for 15-20 minutes, stirring occasionally.
Marinate ribs in 1/2 of sauce for 1 hour. Reserve 1/2 of the sauce.
Season ribs with salt and pepper. Bake on a large baking sheet for 35 minutes at 350F. Cook for 15 minutes. Cut into individual ribs. Add ribs to remaining sauce, coating thoroughly. Return to baking sheet, bake 30 minutes. Serves 6.