Abstract: A design method for undisturbed switching of linear controllers is provided for solving the problem of sudden system response change or an unstable control circuit caused by switching of multiple linear controllers, in which the linear controllers include proportional-integral-derivative (PID), linear-quadratic-Gaussian (LQG), linear active disturbance rejection control (LADRC), H?, model reference adaptive control (MRAC), and open-loop controllers. Firstly, differentials tbr outputs of the controllers are found, then through controller decision, a controller is selected to be connected to a closed-loop control circuit, and a differential term of the controller connected to the closed-loop control circuit is integrated through a common integrator, thereby ensuring smooth controller switching. The design method has a simple structure and good versatility, is operable, and can be easily applied to various actual control systems without requiring parameter adjustment.

Abstract: The present invention discloses an improved model-free adaptive control method, in particular to an improved method for a compact dynamic linearization model-free adaptive control based on MIMO systems, and belongs to the field of control algorithm design. Firstly, proportional control is added in CFDL-MFAC to improve the problems of low response speed and large overshoot in the original control system. Secondly, an anti-windup control algorithm of an actuator is added in the above control structure so that the actuator does not conduct transfinite operation when reaching the upper or lower saturation limit and the actuator can quickly make a control response when a control instruction enters an unsaturated region again to improve the control accuracy of the system. Then, it is proved through strict analysis that the improved control algorithm can ensure tracking error and BIBO stability under certain conditions.