“…The software used in this work is VehicleSim (VehicleSim, 2014), a modelling and rigid multibody simulation software. This software has been used previously by members of this research group in modelling and control of various vehicle systems such as motorcycles (Ramirez et al, 2012(Ramirez et al, , 2013Ramirez and Toma´s-Rodrı´guez, 2014), and helicopters (Marichal et al, 2012(Marichal et al, , 2014. Its old version, Autosim, allowed the modelling of several mechanical system in a similar manner to the work here presented (Evangelou et al, 2008(Evangelou et al, , 2012Toma´s-Rodrı´guez and Sharp, 2007).…”