Bumpless switching controllers

A switching controller is a piecewise linear controller which can change its transfer matrix. If care is not taken in designing such a controller, discontinuities in its output can occur when the controller switches transfer matrices. These surges may saturate the plant input or exert wear on plant components. Often, we can mitigate the effect of these surges by using a bumpless switching controller, a controller in which the output remains continuous despite switching. We show one way to design an observer-based bumpless switching controller as a jump system with an order no greater than that of the plant