iMacroMicro_abg.tex

MTT command:

mtt iMacroMicro abg tex

Figure 1.1: System iMacroMicro: acausal bond graph

The acausal bond graph of system iMacroMicro is displayed in Figure 1.1 (on page ) and its label file is listed in Section 1.1.1 (on page ). The subsystems are listed in Section 1.1.2 (on page ).

This is a Bond Graph model of the macro-micro manipulation system discussed by Sharon in his thesis and by Sharon, Hogan and Hardt in various papers. The micro loop is inverted whilst leaving the macro control in place. This partial inverse gives information about the zero dynamics of the micro control system with the particular macro controller in place and allows desidn of the macro controller to ease the design of the micro controller.