@article{GawWagNei07,
  author = {P.J. Gawthrop and D.J. Wagg and S.A. Neild},
  title = {Bond Graph Based Control and Substructuring},
  journal = {Simulation Modelling Practice and Theory},
  year = 2009,
  volume = {17},
  number = {1},
  pages = {211-227},
  month = {January},
  note = {Available online 19 November 2007},
  doi = {10.1016/j.simpat.2007.10.005},
  abstract = {A bond graph framework giving a unified treatment of both physical
  model based control and hybrid experimental-numerical simulation
  (also known as real-time dynamic substructuring) is presented. The
  framework consists of two subsystems, one physical and one
  numerical, connected by a mph{transfer system} representing
  non-ideal actuators and sensors.  Within this context, a two-stage
  design procedure is proposed: firstly, design and/or analysis of the
  numerical and physical subsystem interconnection as if the transfer
  system were not present; and secondly removal of as much as possible
  of the transfer system dynamics while having regard for the
  stability margins established in the first stage. The approach
  allows the use of engineering insight backed up by well-established
  control theory; a number of possibilities for each stage are given.
 
  The approach is illustrated using two laboratory systems: an
  experimental mass-spring-damper substructured system and swing up
  and hold control of an inverted pendulum. Experimental results are
  provided in the latter case.
}
}

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