Abstract

Abstract In this paper, the suppression of undesirable transient responses caused by controller switching is considered. In some cases, we switch the feedback and the observer gains in order to improve the control performance. However, such switching causes large disturbed transient response. To suppress such undesirable transient response, we propose to assign the state of the dynamical controller. This paper shows that it can be further suppressed by attaching an observer in order to suppress the transient response caused by switching, even in the case that all the states can be measured directly. The proposed assignment rule is based on the observability gramian of the post-switching closed loop system.

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