Title: 		Design and Implementation of a Bond Graph Observer 
		for Robot Control
Author: 	D.W.Roberts, D.J. Ballance & P.J. Gawthrop
Keywords: 	Robots; modeling; bond graphs; state estimation; 
		position control
Abstract:
In robotics, high-precision measurements of link positions are
available for feedback control but tachometer measurements of link
velocities are often severely contaminated by noise. This paper
presents the use of a bond graph model-based non-linear observer to
estimate the velocities in the control of an experimental two-link
manipulator. A significant advantage of this approach is that the
observer software may be written automatically from the bond graph
observer representation. Results are presented in simulation form and
for practical implementation on the experimental arm.