Class ImplicitModelFollower<States extends Num,​Inputs extends Num,​Outputs extends Num>

java.lang.Object
edu.wpi.first.math.controller.ImplicitModelFollower<States,​Inputs,​Outputs>
Type Parameters:
States - Number of states.
Inputs - Number of inputs.
Outputs - Number of outputs.

public class ImplicitModelFollower<States extends Num,​Inputs extends Num,​Outputs extends Num>
extends Object
Contains the controller coefficients and logic for an implicit model follower.

Implicit model following lets us design a feedback controller that erases the dynamics of our system and makes it behave like some other system. This can be used to make a drivetrain more controllable during teleop driving by making it behave like a slower or more benign drivetrain.

For more on the underlying math, read appendix B.3 in https://file.tavsys.net/control/controls-engineering-in-frc.pdf.