siconos.control.controller.Twisting (Python class)

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

Bases: siconos.control.controller.CommonSMC

Modified Twisting Controller with an implicit discretization.

This is the twisting controller that gives the best result

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

Constructors

Twisting(ControlSensor sensor)

Constructor for the ActuatorFactory.

Parameters:sensor – the ControlSensor feeding the Actuator
Twisting(ControlSensor sensor, double hControl)

Constructor for a nonlinear system.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • hControl – sampling period
Twisting(ControlSensor sensor, double gain, double beta, double hControl)

Constructor for the linear case.

Parameters:
  • sensor – the ControlSensor feeding the Actuator
  • gain – control magnitude
  • beta – twisting parameter
  • hControl – sampling period
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
setNSdata(double hControl) → None[source]

set nonsmooth data: NormalConeNSL and AVI osnsp

Parameters:hControl – sampling period