text: /* Siconos is a program dedicated to modeling, simulation and control
   * of non smooth dynamical systems.
   *
   * Copyright 2020 INRIA.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
  */
  
  /*! \file LinearSMC.hpp
   *
   *  \brief Linear sliding mode controller
   */
  
  #ifndef LinearSMC_H
  #define LinearSMC_H
  
  #include "CommonSMC.hpp"
  
  
  /** Linear sliding mode controller
   *
   *  This controller implements the following sliding mode control strategy:
   *  \f$\begin{equation} u = u_{\mathrm{eq}} + u_s\qquad\text{where}\begin{cases} u_{\mathrm{eq}} \text{is the equivalent control input}\\u_s = -sgn(\sigma)\end{cases},\end{equation}\f$
   *
   * where \f$ \sigma = Cx\f$ is the user-defined sliding variable.
   *
   *  */
  class LinearSMC : public CommonSMC
  {
  private:
    /** serialization hooks */
    ACCEPT_SERIALIZATION(LinearSMC);
  
  
  protected:
    /** default constructor */
    LinearSMC() {};
  
  
  public:
  
    /** Constructor for the ActuatorFactory
     * \param sensor the ControlSensor feeding the Actuator
     * \param type do not set this yourself ! this is used in derived classes
     */
    LinearSMC(SP::ControlSensor sensor, unsigned int type = LINEAR_SMC);
  
    /** Constructor with all the data
     * \param sensor the ControlSensor feeding the Actuator
     * \param B the matrix 
     * \param D the D matrix in the FirstOrderLinearR
     * \param type do not set this yourself ! this is used in derived classes
     */
    LinearSMC(SP::ControlSensor sensor, SP::SimpleMatrix B,
              SP::SimpleMatrix D = std::shared_ptr<SimpleMatrix>(),
              unsigned int type = LINEAR_SMC);
  
    /** destructor
     */
    virtual ~LinearSMC();
  
    /** Compute the new control law at each event
     * Here we are using the following formula:
     * \f$u = u_{\mathrm{eq}} + u_s\f$
     */
    virtual void actuate();
  
    /** Set the D matrix
    * \param D the new D matrix
    */
    inline void setDPtr(SP::SimpleMatrix D)
    {
      _D = D;
    };
  
  
  };
  #endif
  