Bumpless Transfer for Switched Linear Systems Under Unknown Switching Sequences by Controller State Initialisation

The bumpless transfer control problem for linear switched systems under unknown switching sequences is first proposed and studied in the framework of generated reference-tracking. Motived by this case, we propose an approach consisting of a mode-estimator and controller state re-initialisation. The proposed approach aims at improving the tracking performance of a suitable candidate controller that has been determined for the current plant mode. The mode estimator selects the active mode from the measured data of the switched system. The controller state initialisation is proposed for complementing a simple bumpless transfer method by minimizing a quadratic cost function that combines two different error signals: tracking error and steady-state control output error. The result is that the supervised switching mechanism ensures both the stability of switched systems and the performance of bumpless transfer.