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File control/src/Controller/RegularTwisting.hpp

File control/src/Controller/RegularTwisting.hpp#

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twisting algorithm with a direct discretization

class RegularTwisting : public Twisting
#include <RegularTwisting.hpp>

Twisting Controller with a straightforward discretization.

Public Functions

RegularTwisting(SP::ControlSensor sensor)

Constructor for a nonlinear system or the ActuatorFactory.

Parameters:
RegularTwisting(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

  • hControl – sampling period

virtual ~RegularTwisting()

destructor

Protected Functions

inline RegularTwisting()#

default constructor

Private Functions

ACCEPT_SERIALIZATION(RegularTwisting)#
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