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H-Bridge or Half Bridge History

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metrologist:
I was looking for first documented use of this circuit as a motor controller. I've not been successful using Google searches as a lot of recent patents, hobby designs, and basic instructional topics come up. Can anyone help with search terms or links to articles?

I was interested because of an article my grandfather wrote back in 1954 using a half bridge PNP/NPN circuit to control a brushed motor. That is around when silicon transistors first started to come out.

Thanks.

daqq:
The concept itself is probably a lot older, only done with tubes and relays - at the end of the day an H bridge is a special case of a push pull amplifier.

metrologist:
OK so I guess not that impressive then.

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