Based on the elementary knowledge from the course Engineering System Dynamics (also called Dynamic Systems)(191210430, 191210431) (fresh up, if necessary!) the modelling of the dynamic behaviour of complex multi-domain systems is discussed, in particular from a port-based view. The student learns how to model a dynamic system and how to enter it in 20-sim, both using traditional equations and block diagrams, but also by means of bond graphs, 20-sim is used to analyse, to simulate and to optimise these models. Emphasis is put at the role of the trade-off between conceptual complexity at the one hand and numerical complexity at the other hand in the decision process of modelling. Planar and spatial mechanical systems as well as systems in which the thermal domain cannot be neglected are given special attention. The presented approach of modelling is particularly important for the design and analysis of mechatronic systems and robotic devices.

Contents
Extension and application of modelling in terms of bond graphs. Multiport storage elements, dissipators and junction structures. Multibond notation. Generalised bond graphs. Decomposition of multiport elements. Linear analysis. Mason's Rule. Transmission matrices. Modelling of planar and spatial mechanical systems (robots, vehicles, etc.) electro-mechanic, electro-acoustic and electro-magnetic systems. Simulation program 20-sim. Numerical integration methods and choosing the integration time step. Optimisation and identification by means of multiple run simulations.