Bond-Graph Simulation Toolbox

In the modeling of such dynamic systems as robots, the energy flow across multiple physical domains is challenging and frequently leads to difficulties, making model-based control methods less efficient. This software enables the efficient creation of multi-domain models in terms of bond graph methodology, allowing users to instantiate elements, ports, and bonds and seamlessly interconnect them. the internal algorithms automate the derivation of equations for each system component with respect to energy variables. the software supports the formulation of system equations in both Cauchy and state-space forms. by specifying system parameters and input signals, software performs numerical simulation, providing comprehensive insights into system dynamics. the powerful tool for multi-domain tools could help in the design and co-design of new multi-domain systems as well as in the synthesis of control algorithms in the energy domain for a wide range of applications.