CorrectionController fails on repeated calls to connectToModel because it does not check that it has actuators itself and only checks the Model's forceset. The first time through the CorrectionController created new actuators and these are valid and no longer need to be recreated. All that was necessary was to traverse its all subcomponents in the model using the model.getComponentList.
CorrectionController fails on repeated calls to connectToModel because it does not check that it has actuators itself and only checks the Model's forceset. The first time through the CorrectionController created new actuators and these are valid and no longer need to be recreated. All that was necessary was to traverse its all subcomponents in the model using the model.getComponentList.

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