File control/src/Controller/ExplicitLinearSMC.hpp

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General interface to define an actuator.

class ExplicitLinearSMC : public CommonSMC

Public Functions

ExplicitLinearSMC(SP::ControlSensor sensor)

Constructor.

Parameters

ExplicitLinearSMC(SP::ControlSensor sensor, SP::SimpleMatrix B)

Constructor.with all data.

Parameters

virtual ~ExplicitLinearSMC()

destructor

void actuate()

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

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

Initializer.

Parameters
  • nsds: current nonsmooth dynamical system
  • s: current simulation setup

Private Functions

ExplicitLinearSMC()

default constructor

ACCEPT_SERIALIZATION(ExplicitLinearSMC)

serialization hooks

Private Members

SP::SiconosVector _sigma

\(\sigma = Cx\)