Modified linear quadratic bumpless transfer

The use of linear quadratic theory in bumpless transfer is discussed and a modification to a similar scheme proposed by the authors is suggested. The authors assume that the controllers are finite dimensional linear time invariant. Formulae are given for a feedback element which minimises a cost function deemed appropriate for ensuring bumpless transfer. The formulae are algebraic and depend only on given matrices and the solution to a single Riccati equation. The differences between this modified scheme and the original one are highlighted and it is suggested that, at the expense of slightly increasing the dimension of the compensator, the new version of the formulae could perform better than the previous scheme