Zero dynamics of physical systems from bond graph models-Part II: MIMo systems

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 121, Issue 1, 1999, Pages 18-26

  Huang, S Y ^a   Youcef Toumi, K T ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; GRAPH THEORY; MATHEMATICAL MODELS; MULTIVARIABLE CONTROL SYSTEMS; VECTORS;

BOND GRAPH MODELS; MULTIPLE INPUT MULTIPLE OUTPUT (MIMO) SYSTEMS; ZERO DYNAMICS;

FEEDBACK CONTROL;

EID: 0033097023     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2802436     Document Type: Article

References (11)

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3. Isidori, Alberto, Nonlinear Control Systems, Second Edition, Springer-Verlag, 1989.
4. Karnopp, D., Margolis, D., and Rosenberg, R., System Dynamics: A Unified Approach, Second Edition, Wiley, New York, 1990.
5. Karnopp, D., “Alternative Bond Graph Causal Patterns and Equation formulations for Dynamic Systems,” ASME Journal of Dynamic Systems, Measurement, and Control, pp. 58-63, 1983.
6. Maschke, B. M., “Contribution to a Bond-graph Approach for the Analysis and Design of Control Laws for Robots with Flexible Links,” PhD thesis, University of PARIS-SUD, Orsay, France, 1990.
7. Maschke, B. M., “Bond Graphs for the Structural Dynamic Decoupling Problem,” Proceedings of IMACS, pp. 1074-1078, Vol. 3, 1991.
8. Miu, D. K., “Physical Interpretation of Transfer Function Zeros for Simple Control Systems with Mechanical Flexibilities,” ASME Journal of Dynamic Systems, Measurement and Control, Vol. 113, pp. 419-424, Sept. 1991.
9. Rosenberg, R. C., “State-Space Formulation for Bond Graph Models of Multiport Systems,” ASME Journal of Dynamic Systems, Measurement, and Control, pp. 35-40, 1971.
10. Slotine, J-J. E., and Li, WeiPing, Applied Nonlinear Control, Prentice-Hall, 1991.
11. Wu, S.-T., and Youcef-Toumi, K., “On Relative Degrees and Zero Dynamics from System Configuration,” ASME Journal of Dynamic Systems, Measurement, and Control, 1995.