Symmetric dichotomy based inverse dynamic model of a high-speed flexible beam
The symmetric causal/acausal dichotomy based model is developed for the bounded noncausal internal dynamics of a highspeed flexible beam, and the resultant modeling redundancy is revealed. The efficient algorithm for computing the nominal torque as well as the state trajectories is proposed to relieve the redundant computational burden of the time-domain inverse dynamic solutions, and its implication to trajectory planning is also investigated. (C) 1999 IMACS/Elsevier Science B.V. All rights reserved.
flexible beams noncausal stable inversion internal dynamic model