Multivariable controller starting up.

In several industrial environments as e.g. power plants, installing a full multivaribale controller is difficult due to safety requirements. Often the starting point is a plant which is already controlled by several single loop controllers, for instance PI or PID controllers. The new controller is then introduced in parallel, varying the control signal continuously by a tuning procedure.
This project focus on the start up and close down of multivariable controllers in a safe way. Further, the change of controller and/or controller structure is also investigated. There the main problem is to reject transients in the response due to the controller change.