Bumpless switching of two degree of freedom generic controller

Deals with the problem of the switching of controllers applied to the 2 DOF generic controller. In fact, when two controllers are switched an unwanted bump in the control signal may be introduced. One way to avoid this disagreement is to introduce a bumpless transfer. The 2 DOF generic controller is composed of two parts: the feedforward controller to obtain a desired behaviour and the feedback controller for the regulation. The switching of the feedforward controller does not need a bumpless transfer whereas that of the feedback controller needs one. The interest in using a bumpless transfer is to integrate it in the reconfiguring functions of the control laws in order to supervise a plant