This example shows how to use signal tracking to achieve bumpless control transfer in a system that switches between a PID Controller block and another controller. You can make the PID controller track the output of the other controller by connecting the signal you want to track to the
TR port of the PID Controller block. For example:
In1 takes a reference signal that feeds both controllers. The output
Out1 drives a controlled system (not shown). A switch transfers control between the Active controller block (a Zero-Pole block) and the PID Controller block. When the Active controller is in the loop, the PID Controller block tracks its output. Thus, the two controllers have the same output when you switch to PID control, ensuring smooth operation.