Bump-less transfer algorithm between two different velocity controllers in an electric drive

Applications, which need both efficient tracking and good load disturbance regulation, are traditionally controlled with controllers having two-degrees of freedom. However, such a controller compromises over the performance between the tracking and the regulation. To improve the performance, different controllers should be used. Transfer between controllers is, however, problematic. In this study a bump-less transfer algorithm between two different velocity controllers, one for tracking and another for load disturbance regulation, are presented