Controller Reconfiguration through Terminal Connections based on Closed-loop System Identification1

Often, when a controlled plant is modified, e.g. if a new sensor or actuator becomes available, 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 combines recently developed methods for gain scheduling based on closed loop identification and controller reconfiguration. The resulting scheme allows for introducing new control components in a smooth manner, providing stability guarantees during the transition phase, while retaining the original control structure.