Parametrization of MIMO multi-controller schemes for bumpless switching

Joseph Julien Yamé (1) , Michel Kinnaert (2) , Thomas Delwiche (2)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 SAAS - Service d'Automatique et d'Analyse des Systèmes

In this paper the realization and implementation of a multi-controller scheme made of a finite set of linear multiple-input-multiple-output controllers, possibly having different state dimensions, is considered. The problem of bumpless switching between the active controller acting in closed-loop and another controller in the set of controllers waiting to take over the control loop is addressed. A non minimal parametrization of the set of controllers such that all controllers share the same state variables is presented, and it is shown that such a parametrization guarantees bumpless switching between any two controllers within the controller set

Domaines: Automatique / Robotique

Joseph Julien Yamé, Michel Kinnaert, Thomas Delwiche. Parametrization of MIMO multi-controller schemes for bumpless switching. European Control Conference, ECC'07, Jul 2007, Kos, Greece. pp.CDROM. ⟨hal-00164275⟩