A safe controller change is a change from a current controller which stabilises the plant to a new controller, which has been designed on the basis of an approximate model of the plant, with guaranteed bounds on the stability properties of the new closed loop system. In this seminar, a model reference approach to the design of safe controller changes on the basis of approximate closed-loop models of the plant will be presented. The safe changes are determined using robust stability results in the nu-gap.
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