 Mechanical supply rate

A mechanical supply rate specifies the rate at which energy enters a mechanical system through its stated ports. For a translational mechanical power port, entering force $F$ and its conjugate velocity $v$ give $w=Fv$; for rotation, torque $\tau$ and angular velocity $\omega$ give $w=\tau \omega$. The supply rate has units of power, while its time integral is supplied work.^[ref]

A two-terminal element makes the sign convention explicit. If forces on the element are $F$ and $-F$ at terminal velocities $v_1,v_2$, total entering power isOnly when terminal2 is stationary may one replace relative velocity by $v_1$. For an original example, $F=100\mathrm{N}$, $v_1=0.030m/s$ and $v_2=0.010m/s$ give $w=2\mathrm{W}$. Over two seconds the first terminal supplies $6\mathrm{J}$ and the second returns $2\mathrm{J}$, leaving net input $4\mathrm{J}$. Ignoring terminal2 would overstate the net supply.

For several translational and rotational ports, sum all entering power terms:The mechanical dissipation inequality then requires $\dot{E}\le w$ for an appropriate nonnegative mechanical energy storage function. Negative instantaneous $w$ is permitted when stored energy returns through the ports; it does not automatically contradict a passive mechanical network.

The chosen supply rate also defines the question being certified. A mathematical quadratic supply used in dissipativity can encode another input/output property, but it represents physical mechanical power only when its variables, units and sign convention match the actual energy exchange. This is why port bookkeeping must precede interpreting a fitted response model as passive.