Multiport Modeling of Multibody Systems: An Approach to Computer Aided Design of Multibody Controls

How to create mutlibody systems´ models that are suitable for the design of their controls? Some multibody programs approach the design of controls by adding FORTRAN subroutines. The approach of some other programs is to derive the state space description and write it in a disc file that can be used by specialized control systems design programs. Both approaches limit the interactive process necessary for the efficient design of control systems. This paper describes a structured multiport approach to the computer-aided modeling of multibody systems. The proposed approach produces models of multibody systems that are suitable for the interactive design and evaluation of control strategies.