Theis, JulianJulianTheisRadisch, ChristianChristianRadischWerner, HerbertHerbertWerner2023-01-242023-01-242014IFAC Proceedings Volumes 19: 6129-6134 (2014)http://hdl.handle.net/11420/14659A 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.en1474-6670201461296134GyroscopesLinear parameter-varying systemsMixed sensitivity problemMultivariable control systemsRobust control applicationsRobust controller synthesisConference Paper10.3182/20140824-6-za-1003.01058Other