Combined system identification and robust control of a gimbal platform

Gimbaled imaging systems require very high performance inertial stabilization loops to achieve clear image acquisition, precise pointing, and tracking performance. Therefore, higher bandwidths become essential meet recent increased demands. However, such often posses flexible dynamics around target bandwidth time delay of gyroscope sensors which put certain limit achievable bandwidths. For loops, widely used design techniques have difficulty in achieving large satisfying required robustness simultaneously. Clearly, control hinges on accurate control-relevant model set. that reason, combined system identification robust method is preferred. In the step, nominal obtained, suitable for subsequent synthesis. Model validation based uncertainty modeling procedure constructs robust-control-relevant uncertain set, facilitates controller design. Later, with skewed- µ synthesis, designed satisfies requirements. Finally, experimental results show significant improvement achieved compared common manual loop shaping methods. addition, demands new are fulfilled.