How to switch between PID controllers ?

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Nicolas Martin 2013-7-18

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https://ww2.mathworks.cn/matlabcentral/answers/82480-how-to-switch-between-pid-controllers

How can I switch between 2 PID ? I am not looking for a bumpless transfer. I would like to switch between 2 PID controllers depending on the status of a third variable which define the mode of operation. Each PID controls efficiently the process when I use them "alone" but when I connect the 2 PID on the switch, I get an error. The system is running if one PID is connected and the remaining PID is connected to a terminator block.

Simulink error: Simulink cannot solve the algebraic loop containing 'EMM_PMM_v2/PMM/Regul_U/PID Controller/Proportional Gain' at time 0.0 using the TrustRegion-based algorithm due to one of the following reasons: the model is ill-defined i.e., the system equations do not have a solution; or the nonlinear equation solver failed to converge due to numerical issues. To rule out solver convergence as the cause of this error, either a) switch to LineSearch-based algorithm using set_param('EMM_PMM_v2','AlgebraicLoopSolver','LineSearch') b) reducing the VariableStepDiscrete solver RelTol parameter so that the solver takes smaller time steps. If the error persists in spite of the above changes, then the model is likely ill-defined and requires modification.