What physics engine does Simscape Multibody use?

What physics engine does Simscape Multibody use?

Answer 1

[J Chen]

Simscape, including all its toolboxes, is based on Simscape language. An introduction can be found at https://www.semanticscholar.org/paper/Modeling-Physical-Systems-as-Physical-Networks-with-Miller/552333a697d413b51713084c8643590c8fc40290

[matlab w]

The situation is like this. I deduced the mathematical model with Kane's method, and built the system in simulink for simulation. Under the same initial conditions, I built a solid model with simscape and simulated it.But the results of the two approaches differ. What method does simscape use to build the mathematical model that describes the system, Kane, Lagrange? Is it because of different modeling methods that result in different results?