Robust bumpless transfer design using adaptive sliding mode approach

This study proposes a robust bumpless transfer scheme for controller switched systems with parametric uncertainty and external disturbances. It is based on an additional compensator, which is activated at and before the switching time, for reducing the control discontinuities. The designed bumpless transfer compensator is given based on model reference and adaptive sliding mode control. Conditions to guarantee the stability of a model matching closed-loop system are provided using a Lyapunov function. Numerical simulations demonstrate the effectiveness of the proposed method.