Currently, the use of renewable energy sources such as solar energy, collected by photovoltaic technology, has gained ground in the energy sector. Its use has been popularised due to the fact that it is considered a clean energy, that is a type of energy is produced without burning fossil fuels which are a cause of global warming, among other environmental damages. In order to optimize the energy harvesting through photovoltaic technology, it is necessary to maintain a perpendicular incidence of the sun rays with the photovoltaic module, leading to the use of solar tracking systems that demand the application of trajectory tracking control strategies that minimize the tracking errors while ensuring the lowest energy consumption of the robotic system. In this work, a comprehensive multibody simulation was carried out to obtain a concrete appreciation of the behavior of the tracking system prior to an experimental implementation. This type of simulations allows us to simulate complete systems formed by solid links and rigid joints that were previously designed, and with a calculated analytical model (Kinematic and Dynamic). Furthermore, the obtained simulator allows us to apply a variety of control strategies that are represented by means of 3D simulations which are very similar to the actual experimental results, so that it would be possible to estimate the ªtracking error results° without the necessity of a physical implementation. From the kinematic and dynamic models of a solar tracker of two degrees of freedom, released in an azimuthal-elevation configuration, a PID controller and a passivity-based controller were implemented in Matlab-Simscape®, obtaining simulations of a solar trajectory tracking minimizing the error between the reference and the solar tracker. [ABSTRACT FROM AUTHOR]