Physical model-based inversion in control systems design using bond graph representation Part 1: Theory

Abstract

System inversion is a concept that often appears either implicitly or explicitly in the design of control systems (e.g. decoupling, feedback linearization or feedforward control). This paper presents an algorithm for the representation of an inverse systems model using bond graph techniques. Structural invertibility conditions are investigated graphically and the structure of the inverse model is discussed. This graphical inversion method is carried out in parallel with classical inversion algorithms using causality manipulations in bond graphs. The physical approach adopted here is enhanced with applications presented in Part 2 which follows.