Design and Implementation of a Robust Controller for a Free Gyro-Stabilized Mirror System

[+] Author and Article Information
Boon C. Siew, Ben M. Chen, Tong H. Lee

Department of Electrical Engineering, National University of Singapore, Singapore 119260

J. Dyn. Sys., Meas., Control 121(3), 550-556 (Sep 01, 1999) (7 pages) doi:10.1115/1.2802513 History: Received March 12, 1998; Online December 03, 2007


In this paper, we consider the problem of designing a robust controller for a multivariable servomechanism of a free gyro-stabilized mirror system where there exists cross-coupling between the axes. The nonlinear dynamics of the system are first linearized and reformulated into an H∞ problem. A reduced order output feedback controller is then designed using the asymptotic time-scale and eigenstructure assignment (ATEA) technique. The overall design has been implemented using a personal computer with C++ and tested on the actual gyro-stabilized mirror system. Our simulation and implementation results show that the design is very successful.

Copyright © 1999 by The American Society of Mechanical Engineers
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