Algorithms design conditions for limited bumpless in Multiple Controllers structures

Switching control algorithms is a method used successfully in non-linear processes or processes with different domains or working regimes. These control structures are also called multicontroller or multimodel (adjustment) architectures. The literature offers several practical and theoretical elements in relation to these solutions. It is well known that a specific problem of these techniques is the shock of the command when switching the adjustment algorithms. The paper proposes and validates some criteria that are imposed on these algorithms from the design phase. The effects of applying these criteria are demonstrated on a laboratory installation controlled by a software application with operation over time.