Table of Contents

Part I Dynamic System Modeling

Introduction to System Dynamics
Introduction
System Decomposition and Model Complexity
Mathematical Modeling of Dynamic Systems
Analysis and Design of Dynamic Systems
Control of Dynamic Systems
Diagrams of Dynamic Systems
A Graph-Centered Approach to Modeling
Summary
Practice
Exercises

Basic Bond Graph Elements
Introduction
Power and Energy Variables
Basic 1-Port Elements
Basic 2-Ports Elements
Junction Elements
Simple Bond Graph Examples
Summary
Practice
Exercises

Bond Graph Synthesis and Equation Derivation
Introduction
General Guidelines
Mechanical Translation
Mechanical Rotation
Electrical Circuits
Hydraulic Circuits
Mixed Systems
State Equation Derivation
State-Space Representations
Algebraic Loops and Derivative Causality
Summary
Practice
Exercises

Impedance Bond Graphs
Introduction
Laplace Transform of the State-Space Equation
Basic 1-Port Impedances
Impedance Bond Graph Synthesis
Junctions, Transformers, and Gyrators
Effort and Flow Dividers
Sign Changes
Transfer Function Derivation
Alternative Derivation of Transfer Function
Summary
Practice
Exercises

Mathematical Modeling and Numerical Simulation
Introduction
Basic Transient Responses
State-Space Simulations
Transfer Function Simulations
Applications
Summary

Laplace Transforms
Introduction
Complex Numbers
The Laplace Transformation
Common Functions and Their Transforms
Advanced Transformations
Inverse Laplace Transformations
Partial Fraction Expansions
Solving Linear Time Invariant Systems
Summary
Practice
Exercises

Time Domain Analysis
Introduction
Transient Responses of First-Order Systems
Transient Responses of Second-Order Systems
Transient Responses of Higher-Order Systems
State Space Analysis
Summary
Practice
Exercises

Frequency Domain Analysis
Introduction
The Sinusoidal Transfer Function
The Bode Diagram
Frequency Responses of First-Order Systems
Frequency Responses of Second-Order Systems
Frequency Responses of Higher-Order Systems
Free Vibration
Rotating Assemblies
AC Circuits
Summary
Practice
Exercises

Classical Control Systems
Introduction
Block Diagrams and Bond Graphs
Transient Response Analysis of Closed-Loop Systems
Transient Response Characteristics and Design Specifications
Stability Analysis
Analysis Using the Root Locus
Design of Lead-Lag Compensators
Design of PID Compensators
Summary
Practice
Exercises

Modern Control Systems
Introduction
Control System Analysis in the State Space
Control Design Using Pole Placement
State Observers
Optimal Control and the Linear Quadratic Regulator
Summary
Practice
Exercises