A interface from scilab simulink to mbdyn input //The prgeramm will generate .mbd file as input file of mbdyn Now it can process a PID simulation in Scilab environment, using MBDyn as its calculation core.

//$ scilab -f doubleSwingW.sce //$ mbdyn -f double_swing.mbd

scilab -f doubleSwing_pid.sce //new /out directory and generate .mbd file in it //MBDyn will be used in each simulation step

//app/mov_read.sci //app/jnt_read.sci something go wrong during state-updating