An expanded new edition of the bestselling system dynamics book using the bond graph approachA major revision of the go-to resource for engineers facing the increasingly complex job of dynamic systems design, System Dynamics, Fifth Edition adds a completely new section on the control of mechatronic systems, while revising and clarifying material on modeling and computer simulation for a wide variety of physical systems.This new edition continues to offer comprehensive, up-to-date coverage of bond graphs, using these important design tools to help readers better understand the various components of dynamic systems. Covering all topics from the ground up, the book provides step-by-step guidance on how to leverage the power of bond graphs to model the flow of information and energy in all types of engineering systems. It begins with simple bond graph models of mechanical, electrical, and hydraulic systems, then goes on to explain in detail how to model more complex systems using computer simulations. Readers will find:* New material and practical advice on the design of control systems using mathematical models* New chapters on methods that go beyond predicting system behavior, including automatic control, observers, parameter studies for system design, and concept testing* Coverage of electromechanical transducers and mechanical systems in plane motion* Formulas for computing hydraulic compliances and modeling acoustic systems* A discussion of state-of-the-art simulation tools such as MATLAB and bond graph softwareComplete with numerous figures and examples, System Dynamics, Fifth Edition is a must-have resource for anyone designing systems and components in the automotive, aerospace, and defense industries. It is also an excellent hands-on guide on the latest bond graph methods for readers unfamiliar with physical system modeling.

Preface xi1 Introduction 11.1 Models of Systems, 41.2 Systems, Subsystems, and Components, 71.3 State-Determined Systems, 91.4 Uses of Dynamic Models, 101.5 Linear and Nonlinear Systems, 111.6 Automated Simulation, 12References, 13Problems, 142 Multiport Systems and Bond Graphs 172.1 Engineering Multiports, 172.2 Ports, Bonds, and Power, 242.3 Bond Graphs, 272.4 Inputs, Outputs, and Signals, 30Problems, 333 Basic Bond Graph Elements 373.1 Basic 1-Port Elements, 373.2 Basic 2-Port Elements, 503.3 The 3-Port Junction Elements, 573.4 Causality Considerations for the Basic Elements, 633.4.1 Causality for Basic 1-Ports, 643.4.2 Causality for Basic 2-Ports, 653.4.3 Causality for Basic 3-Ports, 663.5 Causality and Block Diagrams, 67Reference, 71Problems, 714 System Models 774.1 Electrical Systems, 784.1.1 Electrical Circuits, 784.1.2 Electrical Networks, 844.2 Mechanical Systems, 914.2.1 Mechanics of Translation, 914.2.2 Fixed-Axis Rotation, 1004.2.3 Plane Motion, 1064.3 Hydraulic and Acoustic Circuits, 1214.3.1 Fluid Resistance, 1224.3.2 Fluid Capacitance, 1254.3.3 Fluid Inertia, 1304.3.4 Fluid Circuit Construction, 1324.3.5 An Acoustic Circuit Example, 1354.4 Transducers and Multi-Energy-Domain Models, 1364.4.1 Transformer Transducers, 1374.4.2 Gyrator Transducers, 1394.4.3 Multi-Energy-Domain Models, 142References, 144Problems, 1445 State-Space Equations and Automated Simulation 1625.1 Standard Form for System Equations, 1655.2 Augmenting the Bond Graph, 1685.3 Basic Formulation and Reduction, 1755.4 Extended Formulation Methods--Algebraic Loops, 1835.4.1 Extended Formulation Methods--Derivative Causality, 1885.5 Output Variable Formulation, 1965.6 Nonlinear and Automated Simulation, 1985.6.1 Nonlinear Simulation, 1985.6.2 Automated Simulation, 202Reference, 207Problems, 2076 Analysis and Control of Linear Systems 2186.1 Introduction, 2186.2 Solution Techniques for Ordinary Differential Equations, 2196.3 Free Response and Eigenvalues, 2226.3.1 A First-Order Example, 2236.3.2 Second-Order Systems, 2256.3.3 Example: The Undamped Oscillator, 2306.3.4 Example: The Damped Oscillator, 2326.3.5 The General Case, 2366.4 Transfer Functions, 2396.4.1 The General Case for Transfer Functions, 2416.5 Frequency Response, 2446.5.1 Example Transfer Functions and Frequency Responses, 2496.5.2 Block Diagrams, 2556.6 Introduction to Automatic Control, 2586.6.1 Basic Control Actions, 2596.6.2 Root Locus Concept, 2736.6.3 General Control Considerations, 2856.7 Summary, 310References, 311Problems, 3117 Multiport Fields and Junction Structures 3267.1 Energy-Storing Fields, 3277.1.1 C-Fields, 3277.1.2 Causal Considerations for C-Fields, 3337.1.3 I -Fields, 3407.1.4 Mixed Energy-Storing Fields, 3487.2 Resistive Fields, 3507.3 Modulated 2-Port Elements, 3547.4 Junction Structures, 3577.5 Multiport Transformers, 359References, 364Problems, 3658 Transducers, Amplifiers, and Instruments 3718.1 Power Transducers, 3728.2 Energy-Storing Transducers, 3808.3 Amplifiers and Instruments, 3858.4 Bond Graphs and Block Diagrams for Controlled Systems, 392References, 397Problems, 3979 Mechanical Systems with Nonlinear Geometry 4119.1 Multidimensional Dynamics, 4129.1.1 Coordinate Transformations, 4169.2 Kinematic Nonlinearities in Mechanical Dynamics, 4209.2.1 The Basic Modeling Procedure, 4229.2.2 Multibody Systems, 4339.2.3 Lagrangian or Hamiltonian IC -Field Representations, 4409.3 Application to Vehicle Dynamics, 4459.4 Summary, 452References, 452Problems, 45310 Distributed-Parameter Systems 47010.1 Simple Lumping Techniques for Distributed Systems, 47110.1.1 Longitudinal Motions of a Bar, 47110.1.2 Transverse Beam Motion, 47610.2 Lumped Models of Continua through Separation of Variables, 48210.2.1 The Bar Revisited, 48310.2.2 Bernoulli-Euler Beam Revisited, 49110.3 General Considerations of Finite-Mode Bond Graphs, 49910.3.1 How Many Modes Should Be Retained?, 49910.3.2 How to Include Damping, 50310.3.3 Causality Consideration for Modal Bond Graphs, 50310.4 Assembling Overall System Models, 50810.5 Summary, 512References, 512Problems, 51211 Magnetic Circuits and Devices 51911.1 Magnetic Effort and Flow Variables, 51911.2 Magnetic Energy Storage and Loss, 52411.3 Magnetic Circuit Elements, 52811.4 Magnetomechanical Elements, 53211.5 Device Models, 534References, 543Problems, 544CONTENTS ix12 Thermofluid Systems 54812.1 Pseudo-Bond Graphs for Heat Transfer, 54812.2 Basic Thermodynamics in True Bond Graph Form, 55112.3 True Bond Graphs for Heat Transfer, 55812.3.1 A Simple Example of a True Bond Graph Model, 56112.3.2 An Electrothermal Resistor, 56312.4 Fluid Dynamic Systems Revisited, 56512.4.1 One-Dimensional Incompressible Flow, 56912.4.2 Representation of Compressibility Effects in True Bond Graphs, 57312.4.3 Inertial and Compressibility Effects in One-Dimensional Flow, 57612.5 Pseudo-Bond Graphs for Compressible Gas Dynamics, 57812.5.1 The Thermodynamic Accumulator--A Pseudo-Bond Graph Element, 57912.5.2 The Thermodynamic Restrictor--A Pseudo-Bond Graph Element, 58412.5.3 Constructing Models with Accumulators and Restrictors, 58712.5.4 Summary, 590References, 592Problems, 59213 Nonlinear System Simulation 60013.1 Explicit First-Order Differential Equations, 60113.2 Differential Algebraic Equations Caused by Algebraic Loops, 60413.3 Implicit Equations Caused by Derivative Causality, 60813.4 Automated Simulation of Dynamic Systems, 61213.4.1 Sorting of Equations, 61313.4.2 Implicit and Differential Algebraic Equation Solvers, 61413.4.3 Icon-Based Automated Simulation, 61413.5 Example Nonlinear Simulation, 61613.5.1 Some Simulation Results, 62013.6 Summary, 623References, 624Problems, 624Appendix: Typical Material Property Values Useful in ModelingMechanical, Acoustic, and Hydraulic Elements 630Index 633