A procedure to linearize a class of non-linear systems modelled by bond graphs

Gilberto Gonzalez Avalos and Rene Galindo Orozco

Mathematical and Computer Modelling of Dynamical Systems, 2015, vol. 21, issue 1, 38-57

Abstract: A procedure is proposed to obtain the linearization of a class of non-linear physical systems using bond graphs. Also, a junction structure of a non-linear bond graph considering linearly dependent and independent state variables is described. From the junction structure of the non-linear bond graph a procedure to build a linearized bond graph is presented. Finally, an example of a Programmable Universal Manipulation Arm (PUMA) manipulator is given.

Date: 2015
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DOI: 10.1080/13873954.2013.874360

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