The L2 (l2) bumpless transfer problem for linear plants: Its definition and solution

A novel characterization of bumpless transfer among alternative controllers, both in continuous and discrete time, is introduced. The bumpless transfer problem is to design a compensation scheme guaranteeing an L2 (respectively, l2) bound on the mismatch, after the switching time between the actual plant output and a particular target, ideal response. Minimization of the gain from initial plant state mismatch to L2 (respectively, l2) plant output mismatch provides improved transients. A solution to the bumpless transfer problem is given, both for plants without input saturation and for plants with input saturation. The solution guarantees anti-windup features in the latter case.