In this article, a linear quadratic (LQ) scheme is proposed for bumpless transfer between two tracking controllers. The controllers have integral actions which are used to eliminate the steady-state tracking errors. A compensator is designed using the LQ technique to minimise the differences between two sets of signals, the differences between two control signals as well as the differences between the two input signals which drive the two controllers. Under such circumstances, complete information of the system is taken into account and utilised for achieving satisfactory control. It is shown that the ideal bumpless transfer is achievable with the proposed control scheme. Moreover, the results are extended to discrete-time systems. Finally, simulation results are given to demonstrate the effectiveness of the proposed control scheme.