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 1.1  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}.
@@ -17,14 +20,27 @@
 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}.
+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  joint 1 appears in
-\Ref{fig:itwolink_odeso.ps-itwolink-t1s:itwolink-t1}. 
+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}, 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.