The control structure of a process is classically synthesised starting from a mathematical model in various forms: differential equations, transfer functions, transfer locus... This paper addresses the problem of modelling and control synthesis for a class of electromechanical systems, which can be accurately decomposed into lumped parameters. The Causal Ordering Graph (COG) is a proposition of symbolism for transcribing thought. The COGs consist in a graphical language for describing dynamic systems in a physical and unambiguous manner, thanks to the use of the natural causality principle. Moreover, the COG formalism provides a methodology for the systematic synthesis of the control structure. The feasibility of using COG to model and control is demonstrated in the case of speed control of D.C. machine.
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