Energetic Macroscopic Representation and Inversion-based Control: Application to an Electric Vehicle with an Electrical Differential

Abstract

Energetic Macroscopic Representation (EMR) is an energy-based graphical modelling tool to describe complex electromechanical systems. It is based on the action-reaction principle to organize the interconnection of sub-systems according to the physical causality (i.e. integral causality). Moreover, an inversion-based control can be systematically deduced from EMR using specific inversion rules. The aim of this paper is to introduce the basics of EMR approach and its inversion-based control. An Electric Vehicle with an electrical differential is studied as a simple example.