EscBounded.hpp

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/*
 * EscBounded.hpp
 *
 *  Created on: Apr 13, 2015
 *      Author: filip
 */

#ifndef ESCBOUNDED_HPP_
#define ESCBOUNDED_HPP_

#include <labust/control/esc/EscBoundedBase.hpp>

namespace labust{
        namespace control{
                namespace esc{


                        class EscBounded : public EscBoundedBase<double> {

                        public:

                                EscBounded(int ctrlNum, numericprecission Ts);

                                ~EscBounded();

                                 void initController(double K, double omega, double alpha, double Ts);

                                 vector generateControl(numericprecission argument);

                                /*** Controlled state */
                                vector state_;
                        };
                }
        }
}



#endif /* ESCBOUNDED_HPP_ */