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We recall that the direct dynamics consist in computing an output trajectory \\(y(t)\\) for given control \\(u(t)\\) and an initial state \\(x_0\\), while the inverse dynamics algorithm finds out a control action generating a desirable output trajectory (i.e. perform the system inversion). As an illustration of the inverse dynamics algorithm, a mathematical model of a flexible link robotic manipulator with a single link is examined; it includes viscous damping, Coulomb friction and backslash. 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