Welcome students.

 In the last class we have discussed. The characteristics and constitutive law of junction
elements. 

In this session we shall discuss about causality for inertia, compliance and resistive elements as
well as for transformer and gyrator elements.  Causality for Junction will also be discussed in
this session.
 Now I shall discuss causality for inertia compliance and compliance elements. There are two
type of   causality for example, integral causality and differential causality.  Here I shall discuss
integral causality first. We know that causality is cause and effect relationship in a system, and
This causality is denoted by a transverse line of the bondrepresents the direction of effort signal.
 If we see this power Bond, now the transfers line it indicates the direction of effort signal. Now if
we see another example. Here now you see that the transfers line indicates the direction of
effort. Now you can distinguish here the effort signal moves to the same direction of the power.
But here you can see that the effort signal moves in the opposite direction of power. So the
direction of effort Signal is indicated by the characteristics of Bond graph element whether this is
inertia or compliance or resistive element.  Now, you see the 3rd point. You know the well
known equation voltage equal to current x resistance .Now in this expression if i or the current is
the cause then voltage will be the effort. Or this equation can be written in the other form i=1/ R
x V.  Now in this case if voltage is the cause, current will be the result it or consequence or it is
not mentioned in the equation which one is the cause and which one is the effect. So this type
of expression is called a causal equation, but in Bond graph this is causal, that means direction
of cause and effect, this cause may be either in terms of effort or in terms of flow variable. So
the directions of effort or the flow variable are fixed in Bond graph notation. Now we see the
example of inertia element. We know the well known equation f = m.x.  This is coming from
Newton's second law of motion where F is the Applied force, M is the mass and X is the
acceleration. So we can write m x df/dt, where f is the velocity or flow variable. Now from this
expression we can write F is the effort variable so that can be denoted by e. And e=m df/dt. 
t
1
Now we can find out this flow variable f we integrate e. So, f = ∫ e dt .  So, in this expression e
m −∞
or the effort variable is the cause and flow variable f is the consequence or result. That means in
inertia element effort come to the Mars and that effort is integrated over the time and that is
divided by the mass and it return back flow.  So for inertia element effort is the cause and that's
why causal stroke is given in the element side and floor is the consequence. That means the
direction of flow will be towards the Junction. Now we shall consider the compliance element.
We know the well known equation for linear spring.  Force= linear stiffness X linear
displacement or F=k × x .  So, in this equation we can write F is the force, it can be denoted by e
that is a effort variable. E=k×q. Q is the displacement and we know that velocity or flow is
t
dq/dt.  So from here we can writee=k ∫ f dt . Now in this expression we can see that f is the
−∞
cause and effort is the consequence or result.  Now you see from the spring it takes the flow
and that flow is integrated over the time and is multiplied with the stiffness k and it returns back
effort. So that's why the causal stroke is given in the junction side. For the spring, force is the
cause and effort signal is the consequence and the direction of causal stroke will be in the
junction side. Now for the spring, flow f is the cause and effort is the consequence and the
direction of causal stroke will be in the junction side. Now if we see for the cases, inertia
element and compliance element both the cases cause integration. That means for the inertia
element effort is integrated and for the compliance element flow is integrated. That's why these
two elements are called the state variable.Or we can say these are integrators.
Now we take another example of resistive element. We know the equation force= resistance X
velocity. Or F=R.x. It can be written as effort = resistance X velocity. So f is the cause and effort
is the consequence.  For this case, flow comes from junction towards the element and that flow
is multiplied by resistance and that resistance turns back effort signal. So in this case, causal
stroke will be towards the junction side. So resistance is not the integrator, resistance only is the
multiplier. Because the cause is multiplied with the resistance and the resistance returns back D
effort signal. Another type of causality for R element is also possible.  If we see the
expression, force = resistance X velocity or or it can be written as effort e = R x flow.  Then flow
can be written as 1/R x effort variable.  So in this case effort is the cores and flow is the output
or consequence. So for this R element, input is the effort and that effort is multiplied by with the
R and the resistance returns the flow. So, in this case as a resistive element take effort variable.
The causality will be on the element side.
 So to type of causality for the resistive element is possible. The first one is the resistive
causality and the second one is called the inductive causality. But for inertia and compliance
element, the causality is fixed. That means for inertia element, causality will be always on the
element side and this type of causality is called integral causality. Similarly for this compliance
element, causalitywill be always on the junction side that is called integral causality. And one
point to be noted that inertia element and compliance element, these are integrator but the
resistive element is only the multiplier.
 Now we shall discuss causality for source of effort, source of flow, transformer and gyrator
element. 
 Source of effort always supplies constant effort over the time. So the direction of effort is
towards the junction so the causal stroke always will be towards a Junction for Se or
element.For source of flow it supplies constant flow over the time towards a Junction. So the
causal stroke will be always towards the element or towards we Sf element. Now you see the
BG, where four elements are connected to 1 Junction that is source of effort, resistance, inertia
element and compliance element are connected with the 1 junction. First we have to decide the
causal stroke for the source of effort. Always the causal stroke for the source of effort will be
towards the junction. As already explain. So the effort moves towards the one junction. Now we
have tocheck for inertia element and the compliance Element. Now for the inertia element, we
know always it take the effort and returns back flow. The causal stroke will be always towards
the element side and for the compliance element it takes the floor and returns back effort. So
the causal stroke will be towards a Junction. 
 Now the fourth element is the resistive element. Now for the resistive element it may either take
referred for lo and also if it takes effort then it will return backflow and if it takes floor then it will
return back effort so depending on the resistive element, the causality will be changed.
In this case 1 junction indicates the velocity or flow at any point and that flow is decided by the
inertia element. Because this inertia element returns back the floor. So the causal stroke for the
resistive element will be the resistive causality. That means causal stroke will be towards the
junction. Now you see another Bond graph, where similar 4 elements are used but instead of
one junction there is a zero Junction. So in this case, source of effort is also replaced by source
of flow. Now first for the source of flow, it supplies constant flow to the Junction overtime .So the
Causal stroke will be towards the element. Now similar to theinertia element, always causal
stroke will be towards element, and for the C element Causal stroke will be towards the junction.
Now you see, 0 junctions indicates the effort at any point and that effort is decided by the
compliance element because it returns back effort. So the causal stroke for the resistive
element resistance will be the inductive causality. That means causal stroke for this R element
will be away from zero Junction or towards the element side R.  
 Now we shall discuss causality for Transformer and   gyrator. Now for the Transformer we
know that, if it takes flow then, it returns also flow. That means according to this equation f1 x
μ=f2, Where μ  is the modulus of the transformer.  Now here we see for the bond one, input is
the flow Input and flow input f1, that f1 will be multiplied with μ  and output will be f2  and in the
right hand side if effort e2  is the input and output will be e1.  So that e1=e2 xμ.  So for this
transformer, causal stroke for both the bonds is towards left.  Now you see, another type
of causal stroke is possible for transformer element. Let us  consider in this case, instead of flow
input f1,  here input is the effort e1, so in that case causal strokewill be  towards right and output
will be again effort variable e2 and that e2 will be according to this equation  e1/μ and if  from
the right hand side flow input is f2 and output will be left hand side will be f1, and that f1 will be
according to this equation f2/μ. So in the second case, we see that input is the effort variable
and output is also effort variable.  So the causal stroke for Bond 1 and Bond 2 you will be
towards right.   So the conclusion for this Transformer element is if input is the flow then in that
case causal stroke for Bond 1 and Bond to will be towards left and if input is the effort variable in
that case causal stroke for Bond 1 and Bond 2 will be towards right.Now we will discuss
causality for gyrator element. So let us consider that first case. Here the input is f1 so f1 is the
input flow.  Now according to this equation, f1 x 𝛂 =e2. So input is the flow variable and for the
second Bond output will be the effort. So causality for Bond number 1 will be towards left,  but
causality for the second born will be towards  right as effort moves towards right. Now you see
for the bond number 2, if input isf2 is then f2 will be multiplied with 𝛂and output will be e1. e1 is
the output for Bond number 1. So the causal stroke for the bond 1 will be towards left.  So if
input from both the side is flow either from bond number 1 or from bond number 2.  Input is the
Floor, then the causal stroke will be in the outward direction from gyrator. But in the second
case. You see if the input is effort either from the left hand side or from right hand side, input is
effort from both sides in that case causal stroke will be towards element or towards the gyrator.

 Now differential causality and causality for the junctions will be discussed.Now for the inertia
element, we know force applied to mass m will be F=mx=mdf/dt. This df/dt can be written in
differential form.f is the effort variable so it is denoted by e anddf/dt will be{f(t+ 🛆t)-f(t)}/🛆t. Now
in this case, flow is the input and output is the effort. That means flow comes from junction to
the element and that flow is differentiated and it is multiplied with the mass and the inertia
element Returns back effort.  So the causal stroke will be towards the junction. But we have
seen, integral causality it takes effort and the effort is integrated over the time and that is divided
by mass and inertia element returns flow.  But here in this case inertia element returns back
effort.  So causal stroke will be in the junction side.so this type of causality is called differential
causality. But this type of causality is not preferable. 
Because we have to predict the value of this flow variable in future times.  You see this , time is
t+🛆 t. t is the present time. So we have to predict the flow variable for future. So that's why
differential causality is not preferable.  Similar case may happen for compliance element also.
And we have force applied to spring = kx.  It can be written as displacement equal to (1/
stiffness) x Force.  Now if we differentiate both side, then it will be1/kdf/dt.  Now dx/dt is the flow
variable that flow 1/k and df/dt Written in differential form {e(t+🛆 t)-e(t)}/🛆t.  So in this case effort
variable is the cause and flow variable is the consequence. So junction provides effort to the
compliance element and that effort is differentiated and is multiplied with the reciprocal of
stiffness and the compliance element returns back flow. So in this case as the junction provides
effort to the compliance element thecausal stroke will be towards element side. This type of
causality is called differential causality also this causality is not preferable.  Because we have to
predict this effort variable or future. You see this t+🛆t .  That's why this type of causality is not
preferable.
 Now we shall discuss strong bond for one junction and strong bond for zero Junction. Now you
see the bond graph, here all 4 elements source of effort, resistive element, inductive element
and compliance element are all connected with the one junction.  As all the four elements are
connected with the one junction, flows are same for all four bonds.  So we can tell that
f1=f2=f3=f4.  Flows are same. Now this flow must be determined by one of the four elements. 
Now we see in this case we know that causal stroke for Se or element is towards the
junction.So it provides effort causal stroke for C element is towards Junction, so it provide effort.
Causal stroke for inertia element is towards the inertia element, so in this case inertia element
basically provides flow to the junction. So the flow of this one junction is determined by inertia
element. That's why Bond number 3 is called strong bond. The other three wants that is born
number 1, 2 and 4, they are called weak bonds. Another thing is very important, this one
junction there will be a single flow input.  In this case it is given by inertia element, and other
Bond will provide effort.  Bond number 1,2 and 4  these three bonds provide effort to the
junction.  Now we shall discuss a strong bond for zero Junctions. Also 4 elements are
connected with zero Junction and Se it is replaced by a source of flow. Now you see the source
of flow provides flow to the junction. Compliance element it is providing effort, inertia element
provides flow to the junction and R element also provide flow to the junction. Now zero junction
indicates the effort at any point. Here the effort for all four elements are also same.   Now this
effort is determined by one of the four elements. In this case as the compliance element
C provide effort to the junction, so this born number 4 is the strong bond.  And other will provide
flow to the junction.  Bond 1, 2, And 3, these 3 bonds are called weak bonds. For zero junction
there is a single effort input. In this case the single effort input is given by compliance element
and others provide flow.  Bond numbers 1, 2 and 3 these three elements provide flow to the
junction. These three elements are called weak bonds.