HAMILTONIAN AND LAGRANGIAN BOND GRAPHS

The more difficult portions of models of physical systems often are appropriately approached through the use of Lagrange's or Hamilton's equations. It is seen that such a region can be integrated into a conventional bond graph with a simple macro symbol, a more reticulated Hamiltonian bond graph, or in many cases a highly reticulated Lagrangian bond graph. Nonholonomic constraints can be inserted and recognized. A set of examples illustrates the conceptual and computational advantages of the various approaches.