Switched mode systems are defined as those represented by a finite set of linear subsystems and a set of logic rules orchestrating the switching among them. Current Programmable Logic Controller (PLCs) and the IEC 61131-3 standard allows a systematic design of multi-controller architecture to improve the behavior of such type of industrial systems. This paper describes the implementation of Bumpless Transfer (BT) mechanisms within multi-rate control architecture for switched mode systems. By detecting the system state and the feasible next states, the supervisor decides the control algorithms that are active, in tracking mode or in wait state. The steps to design the complete architecture are presented and experimental results that validate the architecture are shown.
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