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In this work, we use Energetic Macroscopic Representation (EMR) to organize the model. EMR is a graphical tool for describing complex multi-physical systems. It can highlight the important couplings that distribute energy and system control can be systematically deduced based on inversion rules. In EMR, two key principles must be followed:
The first one is the interaction principle. Suppose we have two subsystems, S1 and S2. If S1 acts on S2, there must be a reaction from S2 back to S1. The product of action and reaction represents the power exchange between these two subsystems. The second principle is causality, which means the output should be the integration of the input, this always introducing a delay between output and input.
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IEEE/ICACT20250244 Slide.07
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