Gawthrop, P.J. (2000) Physical interpretation of inverse dynamics using bicausal bond graphs. Journal of the Franklin Institute, 337(6), pp. 743-769. (doi: 10.1016/S0016-0032(00)00051-X)
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Publisher's URL: http://dx.doi.org/10.1016/S0016-0032(00)00051-X
Abstract
A physical interpretation of the inverse dynamics of linear and nonlinear systems is given in terms of the bond graph of the inverse system. It is argued that this interpretation yields physical insight to guide the control engineer. Examples are drawn from both robotic and process systems.
Item Type: | Articles |
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Additional Information: | Final version as accepted by the Journal of the Franklin Institute supplied by the author |
Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Gawthrop, Professor Peter |
Authors: | Gawthrop, P.J. |
Subjects: | T Technology > TJ Mechanical engineering and machinery |
College/School: | College of Science and Engineering > School of Engineering > Systems Power and Energy |
Research Group: | Systems and Control engineering |
Journal Name: | Journal of the Franklin Institute |
Publisher: | Elsevier Science Ltd. |
ISSN: | 0016-0032 |
Copyright Holders: | Copyright © 2000 The Franklin Institute. Published by Elsevier Science Ltd. |
First Published: | First published in Journal of the Franklin Institute 337(6)743-769 |
Publisher Policy: | Reproduced in accordance with the copyright policy of the publisher. |
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