Differences and common aspects of POG and EMR energy-based graphical techniques

Three main modeling techniques have been proposed in the past years: Bond Graphs (BG), Power-Oriented Graphs (POG) and Energetic Macroscopic Representation (EMR). These modeling techniques are energy-based graphical techniques which exploits the power interaction between subsystems as basic concept for modeling. In this paper a comparison between the POG and EMR techniques is presented. These techniques have many aspects in common and also differences that are pointed out in the paper. The POG schemes have a well-defined mathematical structure and use vectorial compact forms when the system complexity increases. The EMR constitutes a graphical tool useful for modeling, simulation and control of dynamical systems.