SUMMARY

Bond graphs are primarily used in the network modelling of lumped parameter physical systems, but con-troller design with this graphical technique is relatively unexplored. It is shown that bond graphs can be used as a tool for certain model matching control designs. Some basic facts on the nonlinear model matching problem are recalled. The model matching problem is then associated with a particular disturbance decoupling problem, and it is demonstrated that bicausal assignment methods for bond graphs can be applied to solve the disturbance decoupling problem as to meet the model matching objective. The adopted bond graph approach is presented through a detailed example, which shows that the ob-tained controller induces port–Hamiltonian error dynamics. As a result, the closed loop system has an associated standard bond graph representation, thereby rendering energy shaping and damping injection possible from within a graphical context