Singularly perturbed formulation: Explicit modeling of multibody systems (Q1912562)

This paper details the development of a bond graph-based formalism for modeling multibody systems in a singularly perturbed formulation. As opposed to classical multibody modeling methods, the singularly perturbed formulation is explicit, which makes it suitable for parallel processing. Because bond graphs can be algorithmically translated into block diagrams, the formalism presented here can be directly stated in block diagram. We chose to present this work in bond graph notation because of its compactness and because of the insight it provides into the power structure of the system.