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