siconos.control.controller.ExplicitTwisting (Python class)

class siconos.control.controller.ExplicitTwisting(*args)[source]

Bases: siconos.control.controller.CommonSMC

Twisting Controller with an explicit discretization.

Generated class (swig), based on C++ header Program listing for file control/src/Controller/ExplicitTwisting.hpp.

Constructors

ExplicitTwisting(ControlSensor sensor)

Constructor for a nonlinear system or the ActuatorFactory.

Parameters:sensor – the ControlSensor feeding the Actuator
ExplicitTwisting(ControlSensor sensor, double gain, double beta)

Constructor for the linear case.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • gain – control magnitude
  • beta – twisting parameter
actuate() → None[source]

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

initialize(NonSmoothDynamicalSystem nsds, Simulation s) → None[source]

initialize actuator data.

Parameters:
  • nsds – the NonSmoothDynamicalSystem
  • s – the simulation