A mixed symbolic-numeric software environment

This paper presents two nonlinear examples of mechanical systems. The first example is a simple inverted pendulum, the second example is a simplified bicycle model. In Maple, using the Euler Lagrange equations, we compute the equations of motion. We have shown how to use the interface to transfer the equations to Scilab for simulation or control. We have shown that for dealing with complex models, we need the full power of Maple to perform change of variables which cannot be automatized since they require a deep a priori knowledge of the model