A procedure to linearize a class of non-linear systems modelled by bond graphs |
| |
| Authors: | Gilberto Gonzalez Avalos Rene Galindo Orozco |
| |
| Affiliation: | 1. Faculty of Electrical Engineering, University of Michoacan, Morelia, Mexicogilmichga@yahoo.com.mx;3. Department of Electrical Engineering, University of Nuevo Leon, San Nicolas de lo Garza, Mexico |
| |
| 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. |
| |
| Keywords: | bond graph non-linear systems linearization DC motor |
|
|
