$H_{\infty}$ Bumpless Transfer Under Controller Uncertainty

The internal model-based H _infin full information steady-state bumpless transfer synthesis procedure is developed and demonstrated to provide near optimal robust stability and robust performance for a much larger class of controller uncertainty than the earlier developed LQ state/output transfer. It is also pointed out that the steady-state bumpless transfer under controller uncertainty represents, in general, a hybrid mode of system behavior-a controlled discrete transition.