Class Twisting

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

class Twisting : public CommonSMC

Modified Twisting Controller with an implicit discretization.

This is the twisting controller that gives the best result

Subclassed by RegularTwisting

Public Functions

Twisting(SP::ControlSensor sensor)

Constructor for the ActuatorFactory.


Twisting(SP::ControlSensor sensor, double hControl)

Constructor for a nonlinear system.


Twisting(SP::ControlSensor sensor, double gain, double beta, double hControl)

Constructor for the linear case.

  • sensor: the ControlSensor feeding the Actuator

  • gain: control magnitude

  • beta: twisting parameter

  • hControl: sampling period

virtual ~Twisting()


virtual void actuate()

Compute the new control law at each event Here we are using the following formula:

virtual void initialize(const NonSmoothDynamicalSystem &nsds, const Simulation &s)

initialize actuator data.

  • nsds: the NonSmoothDynamicalSystem

  • s: the simulation

virtual void setNSdata(double hControl)

set nonsmooth data: NormalConeNSL and AVI osnsp

  • hControl: sampling period