Physical interpretation of inverse dynamics using bicausal bond graphs
Following the `design in the physical domain' approach of Sharon et al. (1991), control system design could, and should, be based on physical system insight. Bond graphs provide a high-level modelling language for describing dynamic systems in a graphical form which retains such physical insight. Building on the basis of ideas of bond-graph-based control presented by the author (1995), this paper provides an approach to control system configuration based on bond graph inversion and bicausal bond graphs. To support this, extensions of the bicausal bond graph theory to systems with modulation are given. Because of the multi-disciplinary nature of bond graphs, the method is applicable to a range of engineering systems. The ideas are illustrated using both mechanical and process engineering examples.
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