LMI-based synthesis for robust attenuation of disturbance responses due to switching

This paper deals with a method to synthesize ´controllers´ to attenuate undesirable responses due to switching. The method has close relation to the existing bumpless transfer methods and the conditioning techniques. While the existing methods do not deal with disturbance and uncertainty explicitly, the proposed method deals with those by reducing the worst-case gain from past disturbance to future control output. The controller to be synthesized consist of a feedforward controller, a filter and matrices to assign initial states. They can be synthesized efficiently by solving LMIs.