Approach of bond graphs for the structural analysis of linear systems (Q1362627)

The authors give some structural properties of linear systems modeled by bond graph. After giving some similarities between digraphs and bond graphs, a rank comparison of the state matrix is done for the two approaches. A comparison is also given for the controllability, and formal calculus methods are suggested for the bond graph model. These methods are related to the characteristic polynomial and to the observability and controllability matrices. These results are applied for studying a bond graph simplified model associated to a flexible robot arm.