| Abstract: | In this paper, an anti‐windup bumpless transfer (AWBT) control structure combined with linear interpolation method is proposed for smooth switching control. By choosing an appropriate scheduling signal, different controllers can be switched smoothly under a unified framework. Meanwhile, some robust specifications including H2/H∞ performance, pole placement constraint, and passivity of the closed‐loop system can be preserved through controller switching. Furthermore, for the linear system subject to input saturation, the stability and L2 gain of the closed‐loop system can be guaranteed. Finally, a cart‐spring pendulum system is simulated to demonstrate the effectiveness of the proposed scheme. |
