MBSLIM is a library for the dynamic simulation of generic multibody systems, developed since 2007 by the Laboratorio de Ingeniería Mecánica at University of A Coruña. In addition to the dynamic simulation, its main purpose, MBSLIM incorporates some extra features like the static equilibrium position, the kinematic simulation or the inverse dynamics and some singular advanced features like the EKF (Extended Kalman Filter) state estimation, the kinematic and dynamic sensitivity analysis, the dynamic optimization and the optimal control of multibody systems.