Stable Controller Reconfiguration through Terminal Connections

Often, when new sensor and/or actuator hardware becomes available for use in a control system, it is desirable to retain the existing controllers and apply the new control capabilities in a gradual, online fashion rather than decommissioning the entire existing system and replacing it with the new system. This paper presents a novel method of introducing new control components in a smooth manner, providing stability guarantees during the transition phase, and which retains the original control structure.