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

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