File control/src/Controller/LinearSMCOT2.hpp

File control/src/Controller/LinearSMCOT2.hpp#

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General interface to define a sliding mode controller with disturbance compensation. Reference: Su, W.C.; Drakunov, S.; Ozguner, U. An O(T2) boundary layer in sliding mode for sampled-data systems.

class LinearSMCOT2 : public CommonSMC

Public Functions

LinearSMCOT2(SP::ControlSensor sensor)

Constructor.

Parameters:

sensor – the ControlSensor feeding the Actuator

virtual ~LinearSMCOT2()

destructor

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

initialize actuator data.

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.

virtual void setTimeDiscretisation(const TimeDiscretisation &td)

This is derived in child classes if they need to copy the TimeDiscretisation associated with this Sensor.

Parameters:

td – the TimeDiscretisation for this Sensor

Private Functions

inline LinearSMCOT2()#

default constructor

ACCEPT_SERIALIZATION(LinearSMCOT2)#

Private Members

SP::SiconosVector _X#

Current value of the state ( \( x_k\))

SP::SiconosVector _Xhat#

Predicted current value of the state ( \( \hat{x}_k = \Phi x_{k-1} + \Gamma u_{k-1}\))

SP::SiconosVector _XPhi#

Next value of the state only with the influence of the dynamic \( \XPhi = \Phi x_k\).

SP::NonSmoothDynamicalSystem _nsdsPhi#

Model for the computation of _XPhi.

SP::FirstOrderLinearDS _DSPhi#

DynamicalSystem for the computation of _XPhi.

SP::TimeDiscretisation _tdPhi#

TimeDiscretisation for the computation of _XPhi.

SP::LsodarOSI _PhiOSI#

OneSteoIntegrator for the computation of _XPhi.

SP::EventDriven _simulPhi#

Simulation for the computation of _XPhi.

SP::NonSmoothDynamicalSystem _nsdsPred#

Model for the computation of Xhat.

SP::TimeDiscretisation _tdPred#

TimeDiscretisation for the computation of Xhat.

SP::LsodarOSI _PredOSI#

OneSteoIntegrator for the computation of Xhat.

SP::EventDriven _simulPred#

Simulation for the computation of Xhat.

SP::FirstOrderLinearDS _DSPred#

DynamicalSystem for the computation of _Xhat.

double _coeff#

Coefficient.

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