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Physical interpretation of inverse dynamics using bicausal bond graphs

Gawthrop, P.J. (2000) Physical interpretation of inverse dynamics using bicausal bond graphs. Journal of the Franklin Institute, 337 (6). pp. 743-769. ISSN 0016-0032 (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:Article
Additional Information:Final version as accepted by the Journal of the Franklin Institute supplied by the author
Status:Published
Refereed:Yes
Glasgow Author(s):Gawthrop, Prof 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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