A Bond Graph Model from a State Space Description of a LTI MIMO System

A direct procedure to obtain a bond graph model from a state space description is presented. This procedure is based on a proposed junction structure and an R -field. The junction structure allows interactions only between the state variables and the dissipation field and inputs, between the dissipation field and the co-energy variables, and the output variables are only function of the co-energy variables and the inputs. In order to get a physical meaning of the proposed bond graph model, the R -field of this bond graph is changed by 1-ports resistors, transformers and gyrators.