On Bumps and Reduction of Switching Transients in Multicontroller Systems

This paper is concerned with the realization and implementation of multicontroller systems, consisting of several linear controllers, subject to the bump phenomenon which occurs when switching between one controller acting in closed loop and another controller in the set of “offline” controllers waiting to take over the control loop. Based on a deep characterization of the bump phenomenon, thepaper gives a novel and simple parameterization of such set of linear controllers, possibly having different state dimensions, to cope with bumps and their undesirable transients in switched-mode systems. The proposed technique is based on a non minimalstate-space representation allowing a common memory and a unique dynamics shared by all controllers in that set. It also makes each initially open-loop unstable controller run in a stable way regardless of whether that controller is connected to the controlled process