A trajectory-based real-time controller synthesis with bumpless interconnection mechanism

The aims of this paper are two-folds. Firstly, we present a model-free algorithm for synthesizing an online controller. Secondly, this algorithm also addresses the issue of switching this controller in closed-loop with a bumpless mechanism. The novelty of this algorithm lies in the fact that we do not use any a priori knowledge of the model of the plant in realtime. We use the mathematical framework of behavioral system theory to demonstrate the online controller synthesis and its implementation mechanism.