Bumpless transfer filter for exogenous feedforward signals

David J. Hoelzle, Amy J.Wagoner Johnson, Andrew G. Alleyne

Research output: Contribution to journalArticlepeer-review

19 Scopus citations


This brief presents a bumpless transfer filter to attenuate signal magnitude bumps at transitions between exogenous feedforward (FF) signals in a feedback/FF control architecture. Importantly, this filter does not modify the carefully constructed exogenous FF signal at time indices away from a signal transition. Filter architecture, stability criteria, and performance considerations are detailed. An example application demonstrates filter efficacy with a piecewise iterative learning control scheme applied to a serial positioning robot. The bumpless transfer filter attenuates exogenous signal magnitude bumps at transitions between signal segments; a smoothed exogenous signal yields improved performance at transition locations and thereby decreases the 2-norm of the error signal by 12% on average.

Original languageEnglish (US)
Article number6587780
Pages (from-to)1581-1588
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number4
StatePublished - Jul 2014
Externally publishedYes


  • Additive manufacturing
  • bumpless transfer
  • feedforward control
  • iterative learning control
  • precision motion control


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