Bond Graph Modeling of Variable Structure Systems



The problem of describing variable structure models in a compact, object-oriented fashion is revisited and analyzed from the perspective of bond graph modeling. Traditionally, bond graphs have always been used to describe continuous-time physical processes with a fixed structure. Yet, this paper shall demonstrate that bond graphs are equally suitable to describe variable structure models as fixed structure models. Moreover, a bond graph description of variable structure models can teach us a lot about the essential properties of variable structure models, properties that are not easily visible when other modeling approaches are taken. The paper discusses issues related to causality reassignment and conditional index changes as a consequence of switching in a physical system.
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