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

RegularTwisting()

default constructor

Private Functions

ACCEPT_SERIALIZATION(RegularTwisting)

serialization hooks