Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
==================================================================
--- mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
+++ mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
@@ -4,10 +4,13 @@
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % %% 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
 %
 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -36,11 +39,12 @@
 
  
 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}, give the small-signal relations between the two
-spec. torques and the required system torques. Used together with
+\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.