- Transfer function ⇒ for customization (SISO)
- State space modeling ⇒ for customization (MIMO)
- Simulink → Equations ⇒ for simple systems/control
- Simscape → Physical modeling → Equations ⇒ for complex systems
- Simscape multibody → Physical 3d modeling (bodies + joints + reference frames) → Equations = for more, complex, visualization