Struct ControlZOHAdditionalTerms

Defined in Program listing for file control/src/utils/ControlZOHAdditionalTerms.hpp

struct ControlZOHAdditionalTerms : public ExtraAdditionalTerms

Public Functions

virtual void init(DynamicalSystemsGraph &DSG0, const NonSmoothDynamicalSystem &nsds, const TimeDiscretisation &td)

initialize elements in the graph for the computations

Parameters:

• DSG0 – the graph of DynamicalSystems

• nsds – current nonsmooth dynamical system

• td – current time discretisation

virtual void addSmoothTerms(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, SiconosVector &xfree)

add smooth term to xfree (like the control input, the error correction for an observer)

Parameters:

• DSG0 – the graph of DynamicalSystems

• dsgVD – a DynamicalSystem in the DS graph

• h – the current timestep

• xfree – the free state to modify

virtual void addJacobianRhsContribution(DynamicalSystemsGraph &DSG0, const DynamicalSystemsGraph::VDescriptor &dsgVD, const double h, SiconosMatrix &jacRhs)

add contribution to JacRhs for instance if \(\dot{x} = f(x) + g(x)u\)

Parameters:

• DSG0 – the graph of DynamicalSystems

• dsgVD – a DynamicalSystem in the DS graph

• h – the current timestep

• jacRhs – the jacobian to modify