Publisher DOI: 10.3182/20140824-6-za-1003.01058
Title: Self-scheduled control of a gyroscope
Language: English
Authors: Theis, Julian  
Radisch, Christian 
Werner, Herbert 
Keywords: Gyroscopes; Linear parameter-varying systems; Mixed sensitivity problem; Multivariable control systems; Robust control applications; Robust controller synthesis
Issue Date: 2014
Source: IFAC Proceedings Volumes 19: 6129-6134 (2014)
Abstract (english): 
A classical mixed sensitivity minimization approach and a model matching formulation are compared with the goal to design a linear parameter-varying augmented state feedback control law for a laboratory-scale control moment gyroscope. Dynamic weighting filters are used to impose integral action and roll-off on the controller. Consequently, measurement noise is effectively suppressed and steady state accuracy is guaranteed even in the presence of input disturbances. Both designs are validated in real-time experiments and compared to a previous design that uses static weights. With the new designs, control effort is reduced while transient performance is maintained and tracking accuracy, as well as disturbance attenuation, is improved.
URI: http://hdl.handle.net/11420/14659
ISBN: 9783902823625
ISSN: 1474-6670
Journal: IFAC Proceedings Volumes 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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