Bond-graph modeling in system engineering

The bond-graph method is a graphical approach to modeling in which component energy ports are connected by bonds that specify the transfer of energy between multi-domain system components. Power, the rate of energy transport between components, is the universal currency of physical systems. This paper presents several parts which of 1^st of general introduction of causal bond graph, 2^nd of Bicausal bond graph applied in system inversion simulation, and the 3^rd of control synthesis of system in bond graph formulations. Finally some remarks highlight the importance of application of bond graph in system engineering.