Abstract
In many real applications, the discrepancy problem between controller outputs and plant inputs or the abrupt variation problem of controller outputs can occur. These problems have a negative effect on control performance and stability. It is well-known that two phenomena called 'windup' and 'bump' cause these problems. So far these problems have been studied separately in each side of the anti-windup and the bumpless transfer. This paper proposes a new unified method combines the anti-windup and the bumpless transfer method using the linear quadratic minimization and a proper state space model representation for the anti-windup controller. The proposed method has a feature that it takes account of both the anti-windup and the bumpless transfer in one formula. Finally, we exemplify the performance of the proposed method via numerical examples using the controller switching between the anti-windup PID controller and the anti-windup LQ controller.
