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The study of the robustness of a system's parametric uncertainties is based on state representations which separate the nominal part of the system from the uncertain part. The most used form is the standard interconnection model. Recent works have been formulated so as to find this representation graphically by the bond graph approach. A new procedure is proposed in this paper to determine an uncertain model adapted to the study of robustness and for robust control. The advantage of this procedure is in simplifying the resulting graphical model.

Bond graph representation of standard interconnection model