Bond graph methodology
Bond graphs and their application to mechatronics

The bond graph tool (sometimes called "link graph" or "link graph"), devised by H. Paynter of MIT Boston [1] , formalized by D. Karnopp and R. Rosenberg [2][3] , J. Thoma [4] , acts as an intermediary between the physical system and the mathematical models associated with it (transfer matrix in the linear case, linear or non-linear equation of state, second-order differential equation systems).

It entered Europe in the late 70s, via the Netherlands (University of Twente) and France (Alsthom). It is taught on a regular and organized basis at the École Centrale in Lille, the...