I try to simulate physical systems with discontinuities such as bodies landing on the ground. The landing is modeled by impulsive equations of Lagrange, so that the velocities just after landing are functions of the state and velocities just before touching the ground. I would like to use S-functions for the simulation but I need at some moments (landings) to give new values to the state of the S-function. Is it possible ?
Thanks for your answers and excuse me for my English,
Ciao, Renaud, (wants to control a biped robot with Neural Networks)