Modeling of non-smooth dynamical systems# Dynamical Systems Overview Common interface First order dynamical systems Non linear Linear Linear and time-invariant Second order (Lagrangian) systems Non linear Linear and time-invariant Dynamical Systems plug-in functions Interactions between dynamical systems Relations First Order Relations Non Linear Linear Linear with Time Invariant Coefficients Lagrangian (second order) Relations Scleronomous Rheonomous Compliant Linear and Time Invariant Coefficients Relations plug-in functions Non Smooth Laws Complementarity Condition Newton Impact Newton Impact-Friction Relay User-defined plugins Plugins overview Example