In this a rigid rod which supports a large mass interconnects two hydraulic actuators. The model eliminates the springs as it applies the piston forces directly to the load. These forces balance the gravitational force and result in both linear and rotational displacement.
A detailed review of the equations used in this design can be found in the white paper Using Simulink and Stateflow for Automotive Examples. Please note that this paper is based on an older version of Simulink and does not use all the newest block diagramming features in the current version of Simulink.
