Bond graph based control and substructuring

Abstract

A bond graph framework giving a unified treatment of both physical-model based control and hybrid experimental-numerical simulation (also known as real-time dynamic substructuring) is presented. The framework consists of two subsystems, one physical and one numerical, connected by a transfer system representing non-ideal actuators and sensors. Within this context, a two-stage design procedure is proposed: firstly, design and/or analysis of the numerical and physical subsystem interconnection as if the transfer system were not present; and secondly removal of as much as possible of the transfer system dynamics while having regard for the stability margins established in the first stage. The a..