% Verbal description for system TwoLink (TwoLink_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.

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% Revision 1.1  1997/08/15  13:31:00  peterg
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   The acausal bond graph of system \textbf{TwoLink} is
   displayed in Figure \Ref{TwoLink_abg} and its label
   file is listed in Section \Ref{sec:TwoLink_lbl}.
   The subsystems are listed in Section \Ref{sec:TwoLink_sub}.

This is a heirachical version of the example from Section 10.5 of
"Metamodelling".  It uses the compound components: {\bf ROD}.  {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.

This system has a number of dynamic elements (those corresponding to translation
motion) in derivative causality, thus the system is represnted as a
Differential-Algebraic Equation (Section
\Ref{sec:TwoLink_dae}). Hovever, this is of contrained-state form and
therfore can be written as a set of constrained-state equations (Section
\Ref{sec:TwoLink_cse}). The correspondind ordinary differential
equation is complicated due to the trig functions involved in
inverting the E matrix.

As well as the standard representation the ``robot-form'' equations
appear in Section  \Ref{sec:TwoLink_rfe}. 

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# Outline report file for system TwoLink (TwoLink_rep.txt)

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mtt TwoLink abg tex
mtt TwoLink struc tex
mtt TwoLink sympar tex
mtt TwoLink dae tex
mtt TwoLink cse tex
mtt TwoLink rfe tex
mtt TwoLink ode tex
mtt TwoLink input txt
mtt TwoLink numpar txt
mtt -c TwoLink odeso ps