Incremental bond graph approach to the derivation of state equations for robustness study

Aiming at an automated bond graph based determination of unnormalized frequency domain sensitivities in symbolic form Borutzky and Granda proposed the systematic construction of a so-called incremental bond graph from an initial bond graph for the increments (Δe)(t), (Δf)(t) of power variables e(t) and f(t) associated with each bond. This paper shows that the incremental bond graph can serve also as a starting point for setting up symbolically the canonical form as well as the standard interconnection form of state equations used for robustness study. The approach applicable to general linear time-invariant systems is illustrated by means of a fairly small example.