ADDED   mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_desc.tex
@@ -0,0 +1,30 @@
+% Verbal description for system itwolink (itwolink_desc.tex)
+% Generated by MTT on Mon Nov 17 10:42:48 GMT 1997.
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+   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}.
+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  joint 1 appears in
+\Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}. 
+

ADDED   mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt
Index: mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Inverse/iTwoLink/itwolink_rep.txt
@@ -0,0 +1,35 @@
+# Outline report file for system itwolink (itwolink_rep.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+mtt -c itwolink abg tex
+mtt -c itwolink struc tex
+mtt -c itwolink simp r
+mtt -c itwolink dae tex
+mtt -c itwolink cse tex
+mtt -c itwolink ode tex
+mtt -c itwolink sspar r
+mtt -c itwolink dm tex
+mtt -c itwolink sm tex
+mtt -c itwolink tf tex
+mtt -c itwolink lmfr ps
+
+mtt -c itwolink odes h
+mtt -c itwolink numpar txt
+mtt -c itwolink input txt
+mtt -c itwolink odeso ps  'itwolink_t1'
+mtt -c itwolink odeso ps  'itwolink_t2'
+mtt -c itwolink odeso ps  'itwolink_t1s'
+mtt -c itwolink odeso ps  'itwolink_t1s:itwolink_t1'
+mtt -c itwolink odeso ps  'itwolink_t1s:itwolink_t2'
+mtt -c itwolink rep txt
+
+
+
+
+