A versatile modeling and simulation tool for mechatronics control system development

The paper presents an efficient and versatile software tool DYNAST for modeling, simulation and numerical as well as semisymbolic analysis of general nonlinear dynamic systems, both in time and frequency domains. Besides a very flexible form of block diagrams, DYNAST admits system models characterized by a set of algebraic-differential equations, multipole diagrams, or by a combination of the two approaches. Unlike block diagrams, the multipole diagrams allow for portraying the actual physical structure of the modeled real systems in a very authentic yet comfortable way without deriving any equations or constructing any graphs. As a kernel of the control design toolset, DYNAST supports systematic and global design methodologies for dynamic systems ranging from the detailed physical models mimicking real system prototypes up to the high-abstraction models suitable for control synthesis.