Existing object-oriented modeling environments only support the simulation of a limited type of hybrid dynamic models of variable structure: those with exactly the same state variables and the same algebraic variables in all modes. The most general hybrid dynamic model of variable structure is one in which the number of state variables and algebraic variables is not necessarily equal in all modes. A new algorithm, which transforms such a general variable-structure model into a model suitable for simulation by means of existing object-oriented modeling languages of hybrid systems, is proposed.
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