A Robust Digital Control of a Gyroscope with an Implicit Derivative Estimator

Mateus  Mussi Brugnolli; Gabriel  Pereira das Neves; Leonardo  de P. Carvalho; Oswaldo Luiz  do Valle Costa; Bruno Augusto  Angélico

doi:10.48011/asba.v2i1.1531

Mateus Mussi Brugnolli Department of Telecommunications and Control Engineering, Escola Politécnica da USP
Gabriel Pereira das Neves Department of Telecommunications and Control Engineering, Escola Politécnica da USP
Leonardo de P. Carvalho Department of Telecommunications and Control Engineering, Escola Politécnica da USP
Oswaldo Luiz do Valle Costa Department of Telecommunications and Control Engineering, Escola Politécnica da USP
Bruno Augusto Angélico Department of Telecommunications and Control Engineering, Escola Politécnica da USP

DOI: https://doi.org/10.48011/asba.v2i1.1531

Keywords: Robust control applications, Output feedback control (linear case), Robust control (linear case), Observers for linear systems, Uncertainty descriptions

Abstract

Recently, a new state-space representation has been developed for output feedback control design. With this transformation, many mechanical systems can be represented with the system output measurements as the full state vector. Therefore, these models allow the design of output feedback controllers using state feedback gains. For this work, a set of uncertain models for a Control Moment Gyroscope is assembled and a polytope discretization is performed. The resulting set of models is transformed into the Implicit Derivative Estimator and integrators are added for the output tracking. Finally, a robust H2 digital control is designed, considering the set of uncertain models. The controller is validated through simulation and practical experiments.