File control/src/utils/ControlLinearAdditionalTermsED.hpp

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Functions to add control terms during the integration steps with a TimeStepping scheme.

struct ControlLinearAdditionalTermsED : public ExtraAdditionalTerms

Public Functions

virtual void init(DynamicalSystemsGraph &DSG0, const NonSmoothDynamicalSystem &nsds, const TimeDiscretisation &td)

initialize elements in the graph for the computations

Parameters:

• DSG0 – the graph of DynamicalSystems

• nsds – nonsmooth dynamical system

• td – time discretisation

virtual void addSmoothTerms(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double t, SiconosVector &xdot)

add smooth term to xfree (like the control input, the error correction for an observer)

Parameters:

• DSG0 – the graph of DynamicalSystems

• dsgVD – a DynamicalSystem in the DS graph

• t – the current time

• xdot – the “numerical” derivative of x (or right-hand side of the ODE)

virtual void addJacobianRhsContribution(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double t, SiconosMatrix &jacRhs)

add contribution to JacRhs for instance if \(\dot{x} = f(x) + g(x)u\)

Parameters:

• DSG0 – the graph of DynamicalSystems

• dsgVD – a DynamicalSystem in the DS graph

• t – the current timestep

• jacRhs – the jacobian to modify

Private Functions

ACCEPT_SERIALIZATION(ControlLinearAdditionalTermsED)