| Week 1 |
| 1 |
Syllabus, Policies and Expectations
Course Introduction
Multi-domain Modeling |
Course Introduction (PDF)
Air Pump Model (PDF) |
| Week 2 |
| 2 |
Review: Network Models of Physical System Dynamics
Bond Graph Notation, Block Diagrams, Causality |
Cable Hoist Example (PDF 1) (PDF 2)
Block Diagrams and Bond Graphs (PDF) |
| 3 |
Review (cont.): Equivalent Behavior in Different Domains |
Air Pump Revisited (PDF)
Network Modeling Discussion (PDF) |
| Week 3 |
| 4 |
Thévenin and Norton Equivalent Networks
Impedance Control and Applications |
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| 5 |
Energy-storing Coupling between Domains
Multi-port Capacitor
Maxwell's Reciprocity |
Models of Electromagnetism (PDF)
Example: Electrical Transformer (PDF)
Leakage Flux and Multiport Inertias (PDF)
Multiport Energy Storage Elements (PDF)
Linearized Solenoid Model (PDF)
Solenoids and Co-energy (PDF)
Example: Electromagnetic Solenoid (PDF) |
| Week 4 |
| 6 |
Energy, Co-energy, Legendre Transformation, Causal Assignment
Intrinsic stability |
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| 7 |
Review Revisited: Magnetism and Electro-magnetism |
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| Week 5 |
| 8 |
Electro-magnetic-mechanical Transduction
Use of Co-energy Functions |
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| 9 |
Linearized Energy-storing Transducer Models |
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| Week 6 |
| 10 |
Cycle Processes
Work-to-heat Transduction
Thermodynamics of Simple Substances |
Heat Transfer and the Second Law (PDF)
Example: Ideal Gas (PDF)
Entropy Production and Nonlinearity (PDF)
Example: Thermal Damping (PDF 1) (PDF 2)
Work-to-Heat Transduction in Thermo-fluid Systems (PDF) |
| 11 |
Causal Assignments and Co-energy Functions
Second Law for Heat Transfer
Multi-port Resistors |
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| Week 7 |
| 12 |
Nonlinear Mechanical Systems
Modulated Transformers and Gyrators |
Nonlinear Mechanics Introduction (PDF)
Canonical Transformation Theory (PDF)
Hamilton-Jacobi Theory (PDF)
Jacobi Canonical Transformations and Numerical Integration (PDF 1) (PDF 2)
Equivalent Behavior Through Modulated Transformers (PDF)
Example: Spring Pendulum (PDF)
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| Week 8 |
| 13 |
Lagrangian Mechanics
Coordinates, State Variables and Independent Energy Storage Variables |
Lagrangian and Hamiltonian Forumulations (PDF 1) (PDF 2)
Lagrangian Derivation (PDF)
Modulated Junction Structures (PDF) |
| 14 |
Nonlinear Mechanical Transformations and Impedance Control |
Interaction Control (PDF) |
| Week 9 |
| 15 |
Hamiltonian Mechanics
Stable Interaction Control
Canonical Transformation Theory |
Interaction Stability (PDF) |
| 16 |
Term Project Progress Report Discussion |
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| Week 10 |
| 17 |
Identification of Physical and Behavioral Parameters
Model structure |
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| 18 |
(Internally) Modulated Sources
Non-equilibrium Multi-port Resistors
Nodicity |
Nodicity (PDF) |
| Week 11 |
| 19 |
Amplifying Processes
Small-signal and Large-signal Models |
Amplifiers (PDF)
Example: Capstan Amplifier (PDF) |
| 20 |
Thermodynamics of Open Systems
Convection and Matter Transport
Lagrangian vs. Eulerian Frames |
Bernoulli's Equation (PDF)
Convection (PDF 1) (PDF 2) |
| Week 12 |
| 21 |
Power Conjugates for Matter Transport
Second Law for Non-heat-transfer Processes
Throttling and Mixing |
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| 22 |
Bernoulli's Incompressible Equation
The "Bernoulli Resistor" and "Pseudo-bond-graphs" |
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| Week 13 |
| 23 |
Chemical Reaction and Diffusion Systems
Gibbs-Duhem equation |
Reactions and Diffusion (PDF) |
| Week 14 |
| 24 |
Control-relevant Properties of Physical System Models
Causal Analysis, Relative Degree, Passivity and Interaction Stability |
Control-relevant Properties of Physical System Models (PDF) |
| 25 |
Transmission Line Models
Term Project Presentations |
Transmission Line Models (PDF) |
| Week 15 |
| 26 |
Wrap-up Discussion
Term Project Presentations (cont.) |
Wrap-up Discussion (PDF) |