Abstract
The causally dynamic hybrid bond graph is extended to the case of modeswitching behaviour. Modeswitching 'trees' of switches and elements are historically used by bond graph practitioners to represent elements with piecewisecontinuous functions. This case is defined as 'parametric switching' for the purposes of the hybrid bond graph, since the switching is internal to the element, as opposed to 'structural switching' which alters the model structure. This modeswitching 'tree' is concatenated into a new controlled element which features Boolean switching parameters in the constitutive equation, removing unnecessary complexity from the model. MixedBoolean state equations can be derived from the model, which are nonlinear and/or timevarying (and hence not in the familiar Linear Time Invariant Form). It can be seen that controlled elements often have a static causality assignment and leave the model structure unchanged. The result is a concise method for representing nonlinear behaviour as a piecewisecontinuous function in the bond graph modelling framework.
Original language  English 

Article number  1725 
Pages (fromto)  96102 
Number of pages  7 
Journal  Mechatronics 
Volume  28 
Early online date  12 May 2015 
DOIs  
Publication status  Published  1 Jun 2015 
Keywords
 Hybrid bond graph
 Modeswitching
 Parametric switching
 Physical system models
 Switched bond graph
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Roger Ngwompo
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