I can build a PID controller in the Haskell FRP library netwire using loop
from the ArrowLoop
instance provided for Wire
s.
I can also implement switching between controllers or between a controller and a manual input using switch
.
How can I implement bumpless transfer, for example using the "tracking" strategy explained here (or in any number of control engineering articles/books)? Another strategy might be acceptable if it has good performance, but the tracking approach is appealing for my application because it also address anti-windup.
I'm having trouble squinting at the block diagram hard enough to make it look like the type of two (or one?) loop
applications.