A Pattern for Gradual Transitioning during Dynamic Component Replacement in Extreme Performance UAV Hybrid Control Systems

A common strategy for control systems is to design a set of controllers for a given plant (i.e., the system to be controlled). The controller that is chosen to be implemented at any given time depends on the current operating condition of the plant. For example, a plant operating in nominal condition generally uses one controller, while a plant with a fault uses a different controller. The predefined controllers are usually modeled using differential or difference equations. The states corresponding to these controllers are continuous in nature. The higher level logic that determines which controller to use can be modeled using discrete states that evolve according to a finite state automaton. Such control systems that have both continuous and discrete states are commonly termed Hybrid Control Systems.