Causal ordering graph and model-based control

This document is presenting a methodology to organize the modeling of the dynamic system. The causality of the system is providing an orientation to the modeling and it is then possible to derive a coherent model by association of causal and acausal relations. Then, a methodology is proposed to design the control by inversion of the causal modeling. A simple example for power electronic application is proposed in order to explain how to use the method.