Bond graph model-based for IDA-PBC

In recent years, the control technique interconnection and damping assignment-passivity based control (IDA-PBC) has been a very important topic of research, this is because of the energetic interpretation that it gives to the problem of controlling systems with Port-Hamiltonian structure. This paper addresses the problem of finding suitable interconnection and damping matrices based on the bond graph modeling technique, complementing the methodology to achieve a more systematic procedure and gives an example in which the technique can be applied to control the dynamics of a vehicle suspension.