  The main objective of this study is to propose a methodology to build a
parametric linear model of Flexible Multibody Systems for control design. This
approach uses a combined Finite Element - State Space Approach based on
component modes synthesis and double-port approach. The proposed scheme offers
the advantage of automatic assembly of substructures, preserving the elastic
dynamical behavior of the whole system. Substructures are connected following
the double-port approach; i.e, through the transfer of accelerations and loads
at the connection points, which take into account the dynamic coupling among
them. In addition, parametric variations can be included in the model for
accomplishing integrated control/structure design purposes. The method can be
applied to combinations of chain-like or/and star-like flexible systems, and it
is validated through its comparison with the assumed modes method for the case
of a rotatory spacecraft.
