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Flatness and passivity from a bond graph

This paper shows a first approximation of the use of bond graphs to determine flatness and passivity properties of physical systems. In the case of the flatness property, the topology of the bond graph was used directly in order to obtain paths in the bond graph which generated the equations of the linearized outputs. In the case of the passivity property, we tried to use the topology of the graph directly but, not being successful, the scattering matrix of the system was used as an intermediate step.