A path to oscillation free controller changes

Driven by the need to make a more efficient use of communication and computational resources, recently, a strong research effort has been devoted to the study of control systems integrating several controllers, with the goal of selecting the controller that allows to meet the desired quality of control while minimizing resource usage. However, most of the research made so far has been focused on the rules for controller change, neglecting the full impact of controller changes, namely the resulting oscillations. Consequently, in most such systems, controller changes may cause output oscillations that can compromise the gains achieved by the use of multiple controllers. In this paper, first the cause for oscillations in the presence of period changes is put forward, then a solution based in a change of basis matrix is presented. A simulation illustrate the feasibility of the proposed methodology.