Abstract
A complete design and implementation methodology for the steady state bumpless controller transfer under controller uncertainty is presented. The off-line transfer speed-up idea of Zaccarian and Teel is formalized to yield an implementation technique that completely eliminates the need for any performance/robustness trade-off in the transfer operator design and provides arbitrarily fast convergence of the off-line controller output to that of the online one, removing a key obstacle to acceptance by practitioners of the technique proposed.
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