Bicausal Bond Graphs

Conventional bond graph theory is predicated on the notion that a bond has a single causal stroke: an effort imposed at one end implies a flow imposed at the other. This notion is implied by components having a known constitutive relationship. This paper discusses bond graphs with two causal strokes - Bicausal bond-graphs. These can, for example, handle systems with unknown parameters. This paper addresses issues arising from the general idea of inverse systems - physical systems with a non-standard input-output pattern; in particular: dynamic inverses, parameter estimation and state estimation