2.1. Block diagram of the conventional design process involving sequential design stages 25
2.2. Block diagram for the concurrent design approach with a virtual prototyping stage 27
3.1. Representation of a power bond carrying an effort and flow signal pair 42
3.2. Representation of active bonds carrying either effort or flow that can act as a link between a bond-graph model and a block diagram 43
3.3. A capacitor and a resistor connected in series so that the two components carry the same current (flow) and have the same voltage (effort) 45
3.4. Example illustrating connection of components (a) in parallel and (b) in series 46
3.5. Examples of bond-graph coupling components 47
3.6. The representation of causality in bond-graph ...