Switching Between Multivariable Controllers

A concept for implementation of multivariable controllers is presented in this paper. The concept is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization of all stabilizing controllers. By using this architecture for implementation of multivariable controllers, it is shown how it is possible to smoothly switch between multivariable controllers with guaranteed closed-loop stability. This includes also the case where one or more controllers are unstable. The concept for smooth online changes of multivariable controllers based on the YJBK architecture can also handle the start up and shut down of multivariable systems. Furthermore, the start up of unstable multivariable controllers can be handled as well. Finally, implementation of (unstable) controllers as a stable Q parameter in a Q-parameterized controller can also be achieved.