
Digital Library of the
European Council for Modelling and Simulation 
Title: 
Energy Shaping And Interconnection And Damping Assignment
Control In The Bond Graph Domain 
Authors: 
Alejandro Donaire, Sergio Junco 
Published in: 
(2006).ECMS
2006 Proceedings edited by: W. Borutzky, A. Orsoni, R. Zobel. European
Council for Modeling and Simulation. doi:10.7148/2006 ISBN:
0955301807 20^{th}
European Conference on Modelling and Simulation, Bonn,
May 2831, 2006 
Citation
format: 
Donaire, A., & Junco, S. J.
(2006). Energy Shaping And Interconnection And Damping Assignment Control In
The Bond Graph Domain. ECMS 2006 Proceedings edited by: W. Borutzky, A.
Orsoni, R. Zobel (pp. 173180). European Council for
Modeling and Simulation. doi:10.7148/20060173 
DOI: 
http://dx.doi.org/10.7148/20060173 
Abstract: 
This paper
presents an interpretation in the Bond Graph domain of the Energy Shaping and
Interconnection and Damping Assignment control methods, developed for the
wellknown PortControlled Hamiltonian Systems with Dissipation. In order to
have a stable equilibrium at a prespecified state, the energy function is
modified by adding storage elements to the BG such that the closedloop system
energy has a minimum at that state. A new dissipation function is assigned
changing the Rfield and its interconnection with the rest of the Bond
Graph. A desired power conserving interconnection structure is reached
through the suitable insertion of power bonds among junctions. Energy
shaping, interconnection and damping assignment are performed in a so called
Target Bond Graph. The
control law is determined by a set of partial differential equations derived
from the plant and the Target Bond Graph. 
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