AutoSim automatically derives generalized forces and adds them to the right hand side of the Equations of Motion. Even with constraints, equations generated by AutoSim are not stiff and can be solved with ordinary integrators. The embedded computer algebra includes programming for full or partial linearization. The nonlinear equations can be simplified by having AutoSim drop terms that will be numerically insignificant. Fully linear equations can be derived by taking having AutoSim take partial derivatives symbolically.
All versions generate the same equations.
The size of the models are limited by the memory of the computer and limits of its operating system. Windows NT or 95 .