% Verbal description for system msd (msd_desc.tex)
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The acausal bond graph of system \textbf{msd} is
displayed in Figure \Ref{msd_abg} and its label
file is listed in Section \Ref{sec:msd_lbl}.
The subsystems are listed in Section \Ref{sec:msd_sub}.
\textbf{msd} is a simple Mass-Spring-Damper system with collocated
force and velocity. It is set up to provide a specification system
for each link of the two-link maipulator. This is appropriate because
\begin{itemize}
\item it has compatible physical behaviour with the system itself,
\item it specifies two decoupled systems,
\item it has linear behaviour and
\item it has a simple performance interpretation in terms of system
rise-time and overshoot.
\end{itemize}
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