Questions regarding State-dependent controller in Matlab

[Sungwoo Park]

Hello everyone,
We are developing walking model based on the principle of passive dynamic model, but we want to make it walk on the overground. We want to exert coordinate actuator on the joints and control the actuator through controller.
According to the Tug-of-War example in the tutorial, we found the model used PrescribedController for controlling the force. But this controller is time-dependent that can be used with linear function of time. But, in our walking model, we want to control our actuator related to the state (swing or stance state). And, we also found from the Doxygen that ControlSetController is the one we could use because it seems to use 'state' as a parameter. However, we wonder if this controller can be used in Matlab, or we need to build our customized controller via C++ and import that controller into our Matlab code. So, our questions are:

1) Is the ControlSetSontroller a type of state-dependent controller that we can use for our model? Or is there any other similar controller which is state-dependent and can be used in Matlab?

2) If yes, what can be parameters for the controller? Or can you provide some examples for using the state-dependent controller?

3) If no, we think we should work on building controller via C++ and exporting it to Matlab. Do you have an instruction about this process in your online tutorial?

Thank you.