added deadZone.m

library/matlab-wbc/+wbc/deadZone.m

@@ -0,0 +1,35 @@
+function y = deadZone(u, thr)
+
+    % DEADZONE implements a dead zone for the input u. If an element of u is 
+    %          lower (absolute value) than a user-defined threshold,
+    %          consider that element of u as zero. u can be either a vector
+    %          or a scalar.
+    %
+    % FORMAT: y = deadZone(u, thr)
+    %
+    % INPUT:  - u   = [n * 1] input vector;
+    %         - thr = user-defined threshold;
+    %
+    % OUTPUT: - y   = [n * 1] filtered output.
+    %
+    % Authors: Daniele Pucci, Marie Charbonneau, Gabriele Nava
+    %          
+    %          all authors are with the Italian Istitute of Technology (IIT)
+    %          email: [email protected]
+    %
+    % Genoa, Dec 2018
+    %
+
+    %% --- Initialization ---
+
+    % initialize output
+    y = u;
+
+    for i = 1:length(u)
+
+        if abs(u(i)) < thr
+
+            y(i) = 0;
+        end
+    end
+end