I'm facing an unexpected behavior in my Simscape Multibody model (File attached).
I'm trying to build a model in Simscape Multibody that can represent the motion of two pendulums at the same time, one using linear equation of motion and the other using non-linear equation of motion, both starting at the same angle. Both equations are modeled in Simulink by block diagrams just as in the Matlab example called "Single Pendulum in Simulink and Simscape Multibody" (I took this example as a reference).
The Simulink model is passing the values of θ through variables defined in the second inetgrator (see Figure 1, highligthed in yellow) to the revolute joints of the pendulums modeled in Simscape Multimody.
Figure 1: Pendulum Linear tranfer function (top) and pendulum non-linear transfer function (bottom).
I was expecting to see a difference in the angular position θ according to the Simulink output (Figure 2), but the motion is the same for both cases linear and non-linear in the Simscape Multibody model (Figure 3).
Figure 1: Simulink output - Output 1 is linear equation, output 2 is non-linear equation.
Figure 2: Simscape multibody output - The output in the model is the same for linear and non-linear.
I would like to know why the Simscape Multibody is having the same output when the linear motion should be different
Hope you can help.