@CHAPTER{ iet:/content/books/10.1049/pbce086e_ch4, keywords = {dynamic simulation;FD discretisation;numerical approaches;frequency domains;FD techniques;finite-dimensional simulation;structural damping;time domains;state-space form;dynamic equation of motion;hub inertia;payload;single-link flexible manipulator systems;finite difference modelling;}, title = {Finite difference modelling}, booktitle = Flexible Robot Manipulators: Modelling, Simulation and Control, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {79-114}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE086E_ch4}, url = {https://digital-library.theiet.org/;jsessionid=2iprod63jmnwk.x-iet-live-01content/books/10.1049/pbce086e_ch4} }