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undoubtedly occur. However, its inclusion in
simulation is problematic, because we do not have
ground truth that can be used. In physical
experimentation, a feedforward model of torsional
windup can be included (Reed et al., 2009), but
simulation of this effect is very difficult because of
the lack of an estimate separate from the
feedforward model itself, which could be used to
generate an error signal for a realistic simulation.
For this reason, treatment of torsional windup has
been deferred until physical experimentation.
ACKNOWLEDGEMENTS
Partial funding for this work was provided by the
U.S. National Institutes of Health (grant no.
R21EB012209).
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