I've contributed to this open-source platform for the simulation and control of non-smooth dynamical systems.
A few highlights of my work:
Implementation of a control toolbox with a proper separation between the computation of the control input and the integration the plant.
Implementation of Newton-based solvers for NCP and box-constrained VI.
MATLAB code for an implementation of implicit Sliding Mode Control
The two files implicitSMC.m and implicitTwisting.m can be used to implement the implicitly discretized signum function and twisting controller. They were used during the experimental test shown in the videos page.