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

inline Twisting(SP::ControlSensor sensor)#

Constructor for the ActuatorFactory.


sensor – the ControlSensor feeding the Actuator

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 setNSdata(double hControl)#

set nonsmooth data: NormalConeNSL and AVI osnsp


hControl – sampling period

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


  • nsds – current nonsmooth dynamical system

  • s – current simulation setup