System Dynamics -- Contents -- Preface -- 1 Introduction -- 1.1 Models of Systems, -- 1.2 Systems, Subsystems, and Components, -- 1.3 State-Determined Systems, -- 1.4 Uses of Dynamic Models, -- 1.5 Linear and Nonlinear Systems, -- 1.6 Automated Simulation, -- References, -- Problems, -- 2 Multiport Systems and Bond Graphs -- 2.1 Engineering Multiports, -- 2.2 Ports, Bonds, and Power, -- 2.3 Bond Graphs, -- 2.4 Inputs, Outputs, and Signals, -- Problems, -- 3 Basic Bond Graph Elements -- 3.1 Basic 1-Port Elements, -- 3.2 Basic 2-Port Elements, -- 3.3 The 3-Port Junction Elements, -- 3.4 Causality Considerations for the Basic Elements, -- 3.4.1 Causality for Basic 1-Ports, -- 3.4.2 Causality for Basic 2-Ports, -- 3.4.3 Causality for Basic 3-Ports, -- 3.5 Causality and Block Diagrams, -- Reference, -- Problems, -- 4 System Models -- 4.1 Electrical Systems, -- 4.1.1 Electrical Circuits, -- 4.1.2 Electrical Networks, -- 4.2 Mechanical Systems, -- 4.2.1 Mechanics of Translation, -- 4.2.2 Fixed-Axis Rotation, -- 4.2.3 Plane Motion, -- 4.3 Hydraulic and Acoustic Circuits, -- 4.3.1 Fluid Resistance, -- 4.3.2 Fluid Capacitance, -- 4.3.3 Fluid Inertia, -- 4.3.4 Fluid Circuit Construction, -- 4.3.5 An Acoustic Circuit Example, -- 4.4 Transducers and Multi-Energy-Domain Models, -- 4.4.1 Transformer Transducers, -- 4.4.2 Gyrator Transducers, -- 4.4.3 Multi-Energy-Domain Models, -- References, -- Problems, -- 5 State-Space Equations and Automated Simulation -- 5.1 Standard Form for System Equations, -- 5.2 Augmenting the Bond Graph, -- 5.3 Basic Formulation and Reduction, -- 5.4 Extended Formulation Methods-Algebraic Loops, -- 5.4.1 Extended Formulation Methods-Derivative Causality, -- 5.5 Output Variable Formulation, -- 5.6 Nonlinear and Automated Simulation, -- 5.6.1 Nonlinear Simulation, -- 5.6.2 Automated Simulation, -- Reference, -- Problems,.

6 Analysis and Control of Linear Systems -- 6.1 Introduction, -- 6.2 Solution Techniques for Ordinary Differential Equations, -- 6.3 Free Response and Eigenvalues, -- 6.3.1 A First-Order Example, -- 6.3.2 Second-Order Systems, -- 6.3.3 Example: The Undamped Oscillator, -- 6.3.4 Example: The Damped Oscillator, -- 6.3.5 The General Case, -- 6.4 Transfer Functions, -- 6.4.1 The General Case for Transfer Functions, -- 6.5 Frequency Response, -- 6.5.1 Example Transfer Functions and Frequency Responses, -- 6.5.2 Block Diagrams, -- 6.6 Introduction to Automatic Control, -- 6.6.1 Basic Control Actions, -- 6.6.2 Root Locus Concept, -- 6.6.3 General Control Considerations, -- 6.7 Summary, -- References, -- Problems, -- 7 Multiport Fields and Junction Structures -- 7.1 Energy-Storing Fields, -- 7.1.1 C-Fields, -- 7.1.2 Causal Considerations for C-Fields, -- 7.1.3 I -Fields, -- 7.1.4 Mixed Energy-Storing Fields, -- 7.2 Resistive Fields, -- 7.3 Modulated 2-Port Elements, -- 7.4 Junction Structures, -- 7.5 Multiport Transformers, -- References, -- Problems, -- 8 Transducers, Amplifiers, and Instruments -- 8.1 Power Transducers, -- 8.2 Energy-Storing Transducers, -- 8.3 Amplifiers and Instruments, -- 8.4 Bond Graphs and Block Diagrams for Controlled Systems, -- References, -- Problems, -- 9 Mechanical Systems with Nonlinear Geometry -- 9.1 Multidimensional Dynamics, -- 9.1.1 Coordinate Transformations, -- 9.2 Kinematic Nonlinearities in Mechanical Dynamics, -- 9.2.1 The Basic Modeling Procedure, -- 9.2.2 Multibody Systems, -- 9.2.3 Lagrangian or Hamiltonian IC -Field Representations, -- 9.3 Application to Vehicle Dynamics, -- 9.4 Summary, -- References, -- Problems, -- 10 Distributed-Parameter Systems -- 10.1 Simple Lumping Techniques for Distributed Systems, -- 10.1.1 Longitudinal Motions of a Bar, -- 10.1.2 Transverse Beam Motion,.

10.2 Lumped Models of Continua through Separation of Variables, -- 10.2.1 The Bar Revisited, -- 10.2.2 Bernoulli-Euler Beam Revisited, -- 10.3 General Considerations of Finite-Mode Bond Graphs, -- 10.3.1 How Many Modes Should Be Retained?, -- 10.3.2 How to Include Damping, -- 10.3.3 Causality Consideration for Modal Bond Graphs, -- 10.4 Assembling Overall System Models, -- 10.5 Summary, -- References, -- Problems, -- 11 Magnetic Circuits and Devices -- 11.1 Magnetic Effort and Flow Variables, -- 11.2 Magnetic Energy Storage and Loss, -- 11.3 Magnetic Circuit Elements, -- 11.4 Magnetomechanical Elements, -- 11.5 Device Models, -- References, -- Problems, -- 12 Thermofluid Systems -- 12.1 Pseudo-Bond Graphs for Heat Transfer, -- 12.2 Basic Thermodynamics in True Bond Graph Form, -- 12.3 True Bond Graphs for Heat Transfer, -- 12.3.1 A Simple Example of a True Bond Graph Model, -- 12.3.2 An Electrothermal Resistor, -- 12.4 Fluid Dynamic Systems Revisited, -- 12.4.1 One-Dimensional Incompressible Flow, -- 12.4.2 Representation of Compressibility Effects in True Bond Graphs, -- 12.4.3 Inertial and Compressibility Effects in One-Dimensional Flow, -- 12.5 Pseudo-Bond Graphs for Compressible Gas Dynamics, -- 12.5.1 The Thermodynamic Accumulator-A Pseudo-Bond Graph Element, -- 12.5.2 The Thermodynamic Restrictor-A Pseudo-Bond Graph Element, -- 12.5.3 Constructing Models with Accumulators and Restrictors, -- 12.5.4 Summary, -- References, -- Problems, -- 13 Nonlinear System Simulation -- 13.1 Explicit First-Order Differential Equations, -- 13.2 Differential Algebraic Equations Caused by Algebraic Loops, -- 13.3 Implicit Equations Caused by Derivative Causality, -- 13.4 Automated Simulation of Dynamic Systems, -- 13.4.1 Sorting of Equations, -- 13.4.2 Implicit and Differential Algebraic Equation Solvers, -- 13.4.3 Icon-Based Automated Simulation,.

13.5 Example Nonlinear Simulation, -- 13.5.1 Some Simulation Results, -- 13.6 Summary, -- References, -- Problems, -- Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elements -- Index.