A blending controller with two major control modes.
The blending controller has two major control modes, implemented by controllers A and B inside. When the control mode changes from A to B, the transition is smoothed by a blending component. This is achieved by letting the "A to B" state of the mode controller (inside the blending controller) be refined by three components: Controller_A, Controller_B, and Blending_A_to_B. The mode change from B to A is managed symmetrically.
Reference: Bonnie Heck, J.V.R. Prasad, and Linda Wills, "Software Enabled
Control for Innovative Control Technologies for Autonomous Highly Agile and
Extreme-Performance Aerial Vehicles," available at:
http://controls.ae.gatech.edu/sec/status/may01.pdf