Bond graph models of structured parameter uncertainties

Taking into account uncertainties in model parameter values is a crucial point for studying robustness in modeling and in control. This paper proposes to construct in a systematic and graphical procedure two forms of the linear state equation usually found in the literature for dealing with the robustness problem in the case of structured uncertainties on parameters. It is shown how to model uncertainties in a bond graph approach, in the case of additive or multiplicative parametric variations.