DELETED mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
==================================================================
--- mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
+++ /dev/null
@@ -1,50 +0,0 @@
-% Verbal description for system itwolink (itwolink_desc.tex)
-% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.
-
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% Version control history
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% %% $Id$
-% %% $Log$
-% %% Revision 1.2  1998/01/19 09:57:26  peterg
-% %% Added a discussion of the relevance of G(s).
-% %%
-% Revision 1.1  1997/12/09  16:53:27  peterg
-% Initial revision
-%
-% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-   The acausal bond graph of system \textbf{itwolink} is
-   displayed in Figure \Ref{itwolink_abg} and its label
-   file is listed in Section \Ref{sec:itwolink_lbl}.
-   The subsystems are listed in Section \Ref{sec:itwolink_sub}.
-
-This example illustrates the inversion of  two link manipulator
-dynamics using two identical  simple mass-spring-damper systems as
-specification systems.
-
-The velocities $\omega_1=\omega_2$ specified by the specification
-systems are given in Figure \Ref{fig:itwolink_odeso.ps-itwolink-t1s}
-together with the input defined in Section \Ref{sec:itwolink_input.txt}.
-The torques $\tau_1$ and $\tau_2$ required to give the these
-velocities specified by the specification system are given in Figures
-\Ref{fig:itwolink_odeso.ps-itwolink-t1} and
-\Ref{fig:itwolink_odeso.ps-itwolink-t2} respectively.
-
-The corresponding velocity/torque diagrams for joints 1 and 2 appear in
-Figures \Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}
-\Ref{fig:itwolink_odeso.ps-itwolink-t2s:itwolink-t2} respectively.
-Such diagrams can be used for actuator sizing in terms of torque,
-velocity and power.
-
- 
-This non-linear system can be linearised (about the various
-configurations) and small-signal frequency response methods applied.
-For example, the four transfer functions $G_11$ to $G_22$ in Section
-\Ref{sec:itwolink_tf} (representing the system linearised about zero
-angles and velocities), give the small-signal relations between the
-two spec. torques and the required system torques. Used together with
-$G_31$ and $G_42$ (relating the spec. torques and the joint
-velocities) gives, in principle, a method for evaluating actuator
-requirements (for small signals) as a function of frequency.
-