File control/src/Controller/ExplicitTwisting.hpp

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twisting algorithm with an explicit discretization

class ExplicitTwisting : public CommonSMC

#include <ExplicitTwisting.hpp>

Twisting Controller with an explicit discretization.

Public Functions

ExplicitTwisting(SP::ControlSensor sensor)

Constructor for a nonlinear system or the ActuatorFactory.

Parameters:

sensor – the ControlSensor feeding the Actuator

ExplicitTwisting(SP::ControlSensor sensor, double gain, double beta)

Constructor for the linear case.

Parameters:

• sensor – the ControlSensor feeding the Actuator

• gain – control magnitude

• beta – twisting parameter

virtual ~ExplicitTwisting()

destructor

virtual void actuate()

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

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

Initialization.

Parameters:

• nsds – current nonsmooth dynamical system

• s – current simulation setup

Protected Functions

inline ExplicitTwisting()

default constructor

Private Functions

ACCEPT_SERIALIZATION(ExplicitTwisting)