We introduce an energy-based model, which seems especially suited for constrained systems. The proposed model provides an alternative to the popular port-Hamiltonian framework and exhibits similar properties such as energy dissipation as well as structure-preserving interconnection and Petrov-Galerkin projection. In terms of time discretization, the midpoint rule and discrete gradient methods are dissipation-preserving. Besides the verification of these properties, we present ten examples from different fields of application.

翻译：我们提出了一种基于能量的模型，该模型尤其适用于受约束系统。所提出的模型为流行的端口哈密顿框架提供了一种替代方案，并展现出相似的性质，如能量耗散、结构保持互联以及Petrov-Galerkin投影。在时间离散化方面，中点法则与离散梯度方法均能保持耗散特性。除验证这些性质外，我们提供了来自不同应用领域的十个示例。