This revised and updated edition deals with the modeling of physical systems and features extensive use of bond graphs to illustrate and model these systems. Its coverage encompasses electromechanical transducers, mechanical systems in plane motion, and formulas for computing hydraulic compliances and for modeling acoustic systems. New chapters and sections treat the use of physical system models beyond simply predicting system performance, including automatic control, observers, parameter studies for system design, and concept testing. In addition, the text utilizes state-of-the-art software tools (MATLAB and bondgraph software) for examples and art generation.