In this paper the development of an adequate modelling and simulation tool for Dynamics and Control tasks is presented. The key features of the developed simulator are: “Modularity” – the system model is built by connecting the models of its components, which are written independently of their boundary conditions; “Openness” – the code of each component model is clearly readable and close to the original equations and easily customised by the experienced user; “Efficiency” – the simulation code is fast; “Tool support” – the simulation tool is based on reliable, tested and well-documented software.