Bond graphs in control: Physical state variables and observers |
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| Authors: | Dean Karnopp |
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| Institution: | Department of Mechanical Engineering, University of California, Davis, CA 95616, U.S.A. |
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| Abstract: | Bond graph modeling techniques yield state equations intimately related to energy storage in physical systems. The easy physical interpretation of the state variables from a bond graph model aids in the realization of modern automatic control schemes involving state variable feedback. When it is inconvenient or impossible or measure certain state variables, the useful device of an observer may be used to estimate the missing state variables. It is shown that the same bond graph used to model the system can be used to derive a complete or reduced order observer. The partial observers use derivative causality in a new way and in some cases, the effects of completely unknown disturbances may be accounted for. |
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