Flatness-based online controller reconfiguration

It is a frequent wish for mechatronic systems to be able to adapt themselves to changing environmental conditions at runtime. Self-adapting behavior may require complex reconfigurations of controllers in the shape of mode management and control algorithms. These changes ought to be executed at runtime without shutting the system down. As this procedure may bring about unexpected system behavior we introduce a new flatness-based approach to an online reconfiguration of control algorithms. It provides a smooth switching of controllers while observing safety constraints with respect to value boundaries of the system. A DC-drive testbed serves as an application example.