% 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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