File control/src/utils/ControlZOHAdditionalTerms.hpp

File control/src/utils/ControlZOHAdditionalTerms.hpp#

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Functions to add control terms during the integration steps.

struct ControlZOHAdditionalTerms : 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 – current nonsmooth dynamical system

  • td – current time discretisation

virtual void addSmoothTerms(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, SiconosVector &xfree)#

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

  • h – the current timestep

  • xfree – the free state to modify

virtual void addJacobianRhsContribution(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, 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

  • h – the current timestep

  • jacRhs – the jacobian to modify

Private Functions

ACCEPT_SERIALIZATION(ControlZOHAdditionalTerms)#
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