Direct control in bond graph by state estimated feedback for MIMO LTI systems

A state estimated feedback based on Bond Graphs for Multivariable Linear Time Invariant (LTI) Systems is proposed. A direct graphical technique (Bond Graph) to obtain the closed loop system in state variables using the open loop graph is presented. Structures for the controller and the observer directly in closed loop axe presented. Therefore, the control in the physical or in the Bond Graph domains is realized. The dynamic assignment problem is solved and examples are given.