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## MIMO bumpless transfer

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This chapter describes the undesired effects caused by manual-automatic or con troller switching in process control. Manual-automatic commutations are often used in the start-up schemes of the process industry, whereas switching among different controllers is frequently used for the control of non-linear systems at given operating points. Both types of switching at the plant input can be attributed to structural constraints, limiting either the controller type (linear controllers are typically preferred) or the switching policy (industry applications seldom include sophisticated approaches, like linear parameter-varying). The performance degradation caused by these mode switches is first tackled by means of sliding mode reference conditioning (SMRC) ideas in single-input single output (SISO) systems. Then, multivariable sliding mode (SM) concepts are introduced and the SMRC bumpless algorithm is extended to deal with multiple input multiple-output (MIMO) processes, so as to avoid inconsistencies between the off-line controller outputs and the plant inputs. As a consequence, jumps at the plant inputs are prevented and undesired transients on controlled variables are significantly reduced.

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