Parameterization of Linear Controllers for Bumpless Switching in Multicontroller Schemes

Abstract

This paper concerns the realization and implementation of multi-controller systems, consisting of several linear controllers, subject to the bump phenomenon which occurs when switching between one controller acting in closed-loop and another controller in the set of \ofi-line controllers waiting to take over the control loop. The paper gives a new and simple parameterization of such set of linear controllers, possibly having difierent state dimensions, to cope with the bump phenomenon and its undesirable transients in switched-mode systems. The proposed technique is based on a non minimal state-space representation allowing a common memory and a unique dynamics shared by all controllers in that set. It makes each initially openloop unstable controller run in a stable way regardless of whether that controller is connected to the controlled process.