Users guide# Linear Algebra in Siconos Vectors Matrices Notes about SimpleMatrix Matrix Storage in numerics component Modeling of non-smooth dynamical systems Dynamical Systems Overview Common interface First order dynamical systems Second order (Lagrangian) systems Dynamical Systems plug-in functions Interactions between dynamical systems Relations Non Smooth Laws User-defined plugins Plugins overview Example Simulation of non-smooth dynamical systems Time discretisation Time integration of the dynamics Event-Capturing schemes General Principle First order systems Lagrangian systems Summary of the time discretized equations Event-Driven schemes General Principle Event Driven implementation The Simulation process Event Driven algorithm for Lagrangian systems The algorithm Nonsmooth problems formulation and solve The Simulation process Customize simulation behavior Nonsmooth problems formulations and available solvers Write and solve a problem with Siconos Create a problem Create and describe a solver Solve a problem Control Toolbox Control Manager Sensors Actuators