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:

sensor – the ControlSensor feeding the Actuator

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

Constructor.with all data.

Parameters:

• sensor – the ControlSensor feeding the Actuator

• B – the B matrix

virtual ~ExplicitLinearSMC()

destructor

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

Initializer.

Parameters:

• nsds – current nonsmooth dynamical system

• s – current simulation setup

virtual void actuate()

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

Private Functions

inline ExplicitLinearSMC()

default constructor

ACCEPT_SERIALIZATION(ExplicitLinearSMC)

Private Members

SP::SiconosVector _sigma

\( \sigma = Cx \)