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• Cover Page
• Half-Title Page
• Title Page
• Copyright Page
• Contents
• Preface
• Visual Tour for System Dynamics: Modeling, Simulation, and Response
• Chapter 1 Introduction
• 1.1 Modeling
• 1.1.1 Model building approaches
• 1.1.2 Dynamic continuous models
• 1.2 Simulation
• 1.3 Response (System Analysis)
• Chapter 2 Mechanical Systems
• 2.1 Introduction
• 2.2 Mass (Inertia) Element
• 2.3 Equivalent Mass
• 2.4 Spring Element
• 2.4.1 Equivalent spring
• 2.5 Damper Element
• 2.5.1 Equivalent damper
• 2.6 Force and Motion Inputs
• 2.7 Dynamic Modeling of Mechanical Systems
• 2.7.1 Storage forces
• 2.7.2 Dissipative forces
• 2.8 Problems
• Chapter 3 Bond Graph Modeling Technique
• 3.1 Introduction
• 3.2 Bond Graph Structures
• 3.2.1 Bonds
• 3.2.2 Power flow direction
• 3.2.3 Variables
• 3.2.4 Ports
• 3.2.5 Junctions representations in mechanical systems
• 3.3 Causality
• 3.4 Causality of 1-port Element
• 3.4.1 Source of effort causality
• 3.4.2 Source of flow causality
• 3.4.3 Inertia causality
• 3.4.4 Capacitance causality
• 3.4.5 Resistance causality
• 3.5 Causality of 2-ports Element
• 3.5.1 Transformer causality
• 3.5.2 Gyrator causality
• 3.6 Causality of Multi-ports Element
• 3.6.1 1-junction causality
• 3.6.2 0-junction causality
• 3.7 Bond Graph Construction for Mechanical System
• 3.8 How to Assign Causality for a Bond Graph Model
• 3.9 State Equations from Bond Graphs Model
• 3.10 Formulating Differential Equations from Bond Graphs Model
• 3.10.1 Key variables
• 3.10.2 Constitutive relations
• 3.11 Derivative Causality
• 3.12 Equations Formulation When Derivative Causality Occurs
• 3.13 Algebraic Loops
• 3.14 Problems
• Chapter 4 Electrical Systems
• 4.1 Introduction
• 4.2 Electrical System Elements
• 4.2.1 Inductance element
• 4.2.2 Capacitance element
• 4.2.3 Resistance element
• 4.2.4 Current and voltage sources
• 4.3 Dynamic Modeling of Electrical Systems
• 4.3.1 Equivalent resistance
• 4.3.2 Equivalent capacitor
• 4.3.3 Equivalent inductor
• 4.3.4 Electrical transformer model
• 4.3.5 Operational amplifier model
• 4.3.6 Multi-domain system modeling
• 4.4 Analogous Systems
• 4.4.1 Mechanical-electrical analogies
• 4.4.2 Electrical-mechanical analogies
• 4.5 Bond Graph Constructions of Electrical Systems
• 4.5.1 Junctions representations in electrical systems
• 4.5.2 Causality for Bond Graph model of electrical system
• 4.6 Multi-domain Systems Modeling through Bond Graph Technique
• 4.7 Derivative Causality in Electrical Systems
• 4.8 Algebraic Loops in Electrical Systems
• 4.9 Problems
• Chapter 5 Fluid and Thermal Systems
• 5.1 Introduction
• 5.2 Liquid-level Systems
• 5.2.1 Liquid resistance
• 5.2.2 Junction representations of the liquid resistance
• 5.2.3 Liquid compliance
• 5.2.4 Junction representations of the liquid compliance
• 5.2.5 Liquid inertance
• 5.2.6 Junction representations of the liquid inertance
• 5.2.7 Liquid sources: Pressure and flow
• 5.2.8 Junction representations of the liquid sources
• 5.2.9 Dynamic modeling of liquid-level systems
• 5.2.10 Bond Graph construction for liquid-level systems
• 5.3 Pneumatic Systems
• 5.3.1 Pneumatic resistance
• 5.3.2 Junction representation of the pneumatic resistance
• 5.3.3 Pneumatic capacitance
• 5.3.4 Junction representations of the pneumatic capacitance
• 5.3.5 Pneumatic sources: Pressure and flow
• 5.3.6 Junction representations of the pneumatic sources
• 5.3.7 Dynamic modeling of pneumatic systems
• 5.3.8 Bond Graph construction for pneumatic systems
• 5.4 Hydraulic systems
• 5.4.1 Hydraulic resistance
• 5.4.2 Junction representation of the hydraulic resistance
• 5.4.3 Hydraulic capacitance
• 5.4.4 Junction representation of the hydraulic capacitance
• 5.4.5 Hydraulic inertance
• 5.4.6 Junction representations of the oil inertance and resistance
• 5.4.7 Hydraulic sources: pressure and flow
• 5.4.8 Junction representations of the hydraulic sources
• 5.4.9 Dynamic modeling of a hydraulic servo system
• 5.4.10 Bond Graph constructions for hydraulic systems
• 5.5 Thermal Systems
• 5.5.1 Thermal resistance
• 5.5.2 Thermal capacitance
• 5.5.3 Thermal sources: temperature and heat flow
• 5.5.4 Dynamic modeling of thermal systems
• 5.5.5 Bond Graph constructions for thermal systems
• 5.6 Problems
• Chapter 6 Lagrange Technique
• 6.1 Introduction
• 6.2 Lagrange’s Equations of Motion of Mechanical Systems
• 6.3 Systems with Non-conservative Elements
• 6.4 Rayleigh Dissipation Function
• 6.5 Lagrangian Method Applied to Electrical Systems
• 6.6 Problems
• Chapter 7 System Differential Equations Solution
• 7.1 Introduction
• 7.2 Classical Method (Constant-coefficients method)
• 7.2.1 Complementary function part (homogeneous solution)
• 7.2.2 Particular function part (non-homogeneous solution)
• 7.2.3 Generating the classical solution of a differential equation using MATLAB
• 7.3 Laplace Transform Method
• 7.3.1 Transform and frequency domain methods
• 7.3.2 Solution of differential equations
• 7.4 Problems
• Chapter 8 Dynamic System Responses
• 8.1 Introduction
• 8.2 First-order Systems
• 8.2.1 First-order mechanical systems
• 8.2.2 First-order system analyses
• 8.2.3 First-order electrical systems
• 8.2.4 First-order liquid-level systems
• 8.2.5 First-order pneumatic systems
• 8.2.6 First-order thermal systems
• 8.3 Second-order Systems
• 8.3.1 Second-order mechanical systems
• 8.3.2 Second-order system response to step input
• 8.3.3 Transient response specifications of second-order systems
• 8.3.4 Second-order system response to impulse input
• 8.3.5 Second-order system response to ramp input (linear input function)
• 8.3.6 Second-order electrical systems
• 8.3.7 Second-order liquid-level systems
• 8.3.8 Second-order thermal systems
• 8.3.9 Bond Graph simulation of the system response
• 8.4 Problems
• Chapter 9 Frequency Response
• 9.1 Introduction
• 9.2 Frequency Response Concept
• 9.2.1 Particular solution
• 9.2.2 Transfer function
• 9.3 Magnitude-Phase Form of General Transfer Function
• 9.4 Bode Plotting Techniques
• 9.5 System Characteristics Using Bode Plots
• 9.5.1 Gain margin
• 9.5.2 Phase margin
• 9.5.3 System stability
• 9.6 Estimating the Transfer Function from Experimental Bode Plot
• 9.7 Problems
• Chapter 10 Nonlinear Dynamic Systems
• 10.1 Introduction
• 10.2 Linear and Nonlinear Systems
• 10.3 Bond Graph Modulated Elements
• 10.3.1 Active bond
• 10.3.2 Modulated Bond Graph elements MC and MR
• 10.3.3 Modulated 1-port elements MSE and MSF (modulated sources)
• 10.3.4 Modulated 2-ports elements MTF and MGY
• 10.4 Problems
• Index