Bumpless Transfer under Controller Uncertainty: Theory and Implementation

A complete design and implementation methodology for the steady state bumpless controller transfer under controller uncertainty is presented. The off-line transfer speedup 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 offline controller output to that of the online one, removing a key obstacle to acceptance by practitioners of the technique proposed