Class RegularTwisting

Defined in Program listing for file control/src/Controller/RegularTwisting.hpp

class RegularTwisting : public Twisting

Twisting Controller with a straightforward discretization.

Public Functions

RegularTwisting(SP::ControlSensor sensor)

Constructor for a nonlinear system or the ActuatorFactory.

Parameters:

• sensor – the ControlSensor feeding the Actuator

• hControl – sampling period

RegularTwisting(SP::ControlSensor sensor, double gain, double beta)

Constructor for the linear case.

Parameters:

• sensor – the ControlSensor feeding the Actuator

• gain – control magnitude

• beta – twisting parameter

• hControl – sampling period

virtual ~RegularTwisting()

destructor