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3.2 Evolution of System Behavior: Invariance of State

A consequence of the absence of a physical manifestation of mythical modes is that the system cannot exchange energy with its environment during a sequence of discontinuous changes, in other words, it is isolated. This is compatible with the fact that there is no redistribution of stored energy within the system during such a sequence.

The principle that energy is not redistributed during discontinuous, instantaneous changes, but only after a new mode is reached is termed the principle of invariance of state. The mythical mode algorithm for deriving discontinuous changes, and the corresponding model verification technique are based on this principle.

Consider an ideal elastic collision, Fig. 5. When the ball hits the floor with a velocity v, it induces a force which results in a reaction force by the floor. In case of an ideal elastic collision this causes the ball to instantaneously reverse its velocity and start traveling upwards. In the corresponding hybrid bond graph model, the change of velocity is shown as a modulated flow source which delivers its power when the controlled junction tex2html_wrap_inline770 comes on. The CSPEC specifies that this occurs at the point when the ball hits the floor. The moment the ball starts to move upwards, the controlled junction turns off and the ball is represented by a separate model fragment again. The floor is represented as a source to indicate it is part of the system environment and the amount of energy transferred back to the ball from the floor becomes a modeling decision. The change in momentum of the ball can only occur when a real mode is reached after mythical transitions. In general, any transfer of energy into or out of the system can only be applied in the real mode. However, during mythical transitions, a Dirac pulse may be generated and cause further CSPEC transitions. Once generated, their effect on all CSPECs have to be analyzed immediately. If the Dirac pulses can be propagated without causing another CSPEC transition, the current mode is established as a real one and the effect of the Dirac pulse is taken into account when computing the new state vector in this mode. Otherwise, this mode is labeled as mythical, and the active CSPEC is used to generate the next mode, and the analysis continues as before without actually propagating the Dirac pulses. Thus invariance of state holds across a series of mythical mode changes and the continuous state vector is invariant to mythical switches.

   figure182
Figure 5: Ideal elastic collision.

To correctly infer model configuration changes, all buffers that become dependent have to be analyzed in derivative causality, i.e., they generate Dirac pulses. Changes in configuration and independence of buffers may lead to further model switches.


next up previous
Next: 3.3 The Initial Value Up: 3 Analyzing Model Discontinuities Previous: 3.1 The Nature and

Pieter J. Mosterman
Mon Jul 21 19:58:19 CDT 1997