#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2025 2700 3375 2700 3150 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3600 2475 3600 1125 3825 1350
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 2700 5175 2700 4950 2925
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 6525 3375 900 3375 900 450 6525 450 6525 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 5175 2475 5175 2925
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2025 2475 2025 2925
4 1 0 100 0 18 18 0.0000 4 195 150 3600 2790 0\001
4 2 4 100 0 18 18 0.0000 4 270 870 1935 2790 SS:[in]\001
4 0 4 100 0 18 18 0.0000 4 270 1065 5310 2790 SS:[out]\001
4 1 1 101 0 3 24 0.0000 4 165 195 4500 2520 u\001
4 1 1 101 0 3 24 0.0000 4 240 165 4545 3015 y\001
4 1 1 101 0 3 24 0.0000 4 165 240 2520 3015 w\001
4 1 0 100 0 18 18 0.0000 4 270 765 3735 990 R:k_p\001

% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system Pe (Pe_desc.tex)
% Generated by MTT on Wed May 15 10:28:28 BST 2002.

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2002/05/15 11:01:24  gawthrop
% %% New PI controller component
% %%
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

   The acausal bond graph of system \textbf{Pe} is
   displayed in Figure \Ref{fig:Pe_abg.ps} and its label
   file is listed in Section \Ref{sec:Pe_lbl}.

\textbf{Pe} implements a collocated P controller where:
\begin{description}
\item[w] is the (flow) setpoint at port [w]
\item[y] is the (flow) system output at port [yu]
\item[u] is the (effort) system input (control signal) at port [yu]
\end{description}

The controller transfer-function is:
\begin{equation}
  u(s) = k_p e(s) 
\end{equation}
where the \emph{error} $e(s) = w(s) - y(s)$.

#SUMMARY Pe: Proportional controller with effort output
#DESCRIPTION Implements collocated P controller with:
#DESCRIPTION   w (flow) setpoint at in-port
#DESCRIPTION   y (flow) measurement at out-port
#DESCRIPTION   u (effort) control  at out-port


## System Pe, representation lbl, language txt
## File Pe_lbl.txt
## Generated by MTT on Wed May 15 10:17:13 BST 2002

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################
  
  ###############################################################
  ## Version control history
  ###############################################################
  ## $Id$
  ## $Log$
  ## Revision 1.1  2002/05/15 11:01:24  gawthrop
  ## New PI controller component
  ##
  ## Revision 1.2  2001/07/03 22:59:10  gawthrop
  ## Fixed problems with argument passing for CRs
  ##
  ###############################################################

## Port aliases
#ALIAS	w	in
#ALIAS	yu	out

## Argument aliases
#ALIAS	$1	k_p

## Each line should be of one of the following forms:
##	     a comment (ie starting with #)
##	     component-name	cr_name	arg1,arg2,..argn
##	     blank

## ---- Component labels ----

## Component type R
	k_p	lin		flow,k_p		

## Component type R
	[in]	SS		internal,external		
	[out]	SS		external,external		

## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system Pe (Pe_rep.txt)
## Generated by MTT on" Wed May 15 10:33:29 BST 2002.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.1  2002/05/15 11:01:24  gawthrop
## New PI controller component
##
## Revision 1.1  2000/12/28 11:58:07  peterg
## Put under RCS
##
###############################################################

mtt Pe abg tex			# The system description
mtt Pe cbg ps 		        # The causal bond graph
mtt Pe struc tex	        # The system structure
mtt Pe sympar tex	        # The system parameters
## Uncomment the following lines or add others
## mtt Pe dae tex	        # The system dae
mtt Pe ode tex	        # The system ode 
## mtt Pe sspar tex		# Steady-state parameters
## mtt Pe ss tex 		# Steady state
## mtt Pe dm tex		# Descriptor matrices (of linearised system)
## mtt Pe sm tex		# State matrices (of linearised system)
mtt Pe tf tex		# Transfer function (of linearised system)
## mtt Pe lmfr ps		# log modulus of frequency response (of linearised system)
## mtt Pe simpar txt		# Simulation parameters
## mtt Pe numpar txt		# Numerical simulation parameters
## mtt Pe state txt		# Simulation initial state
## mtt Pe input txt		# Simulation input
## mtt Pe logic txt		# Logic control
## mtt Pe odeso ps		# Simulation output

mtt Pe rep txt		# This file