Maroofi, SeanSeanMaroofiGrube, MalteMalteGrubeSeifried, RobertRobertSeifried2026-08-142026-08-142026-09-0222nd Polish Control Conference, PCC 2026https://hdl.handle.net/11420/64373Due to their flexibility, soft robots offer several advantages over their rigid counterparts in applications such as sensitive manipula-tion and human-machine interaction. However, their use in agile tasks is currently limited because dynamic control of soft robots is usually dif-ficult due to large elastic deformations, underactuation, and redundant actuation. The piecewise constant curvature (PCC) model is commonly used for dynamic forward modeling of soft robots. However, analytical inversion of forward dynamics is typically infeasible due to the model’s complexity. For control purposes, though, inverse models are necessary. In this work, we propose obtaining t he inverse dynamic model of a soft robot from the forward dynamic PCC model using the servo-constraint approach. We analyze the system’s internal stability and validate the model using a physical soft robot. Experimental results demonstrate the effectiveness of our approach indynamictrajectorytracking.ensoft-roboticscontrolmodel inversionservo constraintsdynamicsmultibody dynamicsComputer Science, Information and General Works::005: Computer Programming, Programs, Data and SecurityTechnology::600: TechnologyConference Paper10.1007/978-3-032-32216-6_17