HI. Is that possible to design a controller in which the operator can manually switch between MPC and PID ? In the design below the problem is when we switch from MPC to PID, the MPC receives feedbacks which are not correspondent to MPC signals and it makes the MPC state estimator to estimate totally wrong estate of the model. Consequently it is not possible to switch back to MPC because it is running on a wrong state. So the question is how can I change last move values of the MPC to be equal to PID signals during run time when switching to PID so that the estate estimator does not get lost . Or if there is any other design that can solve this problem.