siconos.control.controller.LinearSMC (Python class)

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

Bases: siconos.control.controller.CommonSMC

Linear sliding mode controller.

This controller implements the following sliding mode control strategy: FORMULA2_

where FORMULA3_ is the user-defined sliding variable.

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

Constructors

LinearSMC(ControlSensor sensor, int type=LINEAR_SMC)

Constructor for the ActuatorFactory.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • type – do not set this yourself ! this is used in derived classes
LinearSMC(ControlSensor sensor, array_like (np.float64, 2D) B, array_like (np.float64, 2D) D=std11::shared_ptr< array_like (np.float64, 2D) >(), int type=LINEAR_SMC)

Constructor with all the data.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • B – the matrix
  • D – the D matrix in the FirstOrderLinearR
  • type – do not set this yourself ! this is used in derived classes
actuate() → None[source]

Compute the new control law at each event Here we are using the following formula: FORMULA4_.

setDPtr(array_like (np.float64, 2D) D) → None[source]

Set the D matrix.

Parameters:D – the new D matrix