Cascade Control System for Two Axes Gimbal System with Mass Unbalance

the application of inertial stabilization system is to stabilize the sensor’s line of sight toward a target by isolating the sensor from the disturbances induced by the operating environment. The aim of this paper is to present two axes gimbal system. The equations of gimbals motion are derived using Lagrange equation considering the base angular motion and mass unbalance. The stabilization loop is constructed by identifying its components, then the traditional and cascade loops are defined. The overall control system is built using the cross coupling unit and simulated in MATLAB for the traditional and cascade control loops. A comparison study is carried out to investigate the gimbal system performance under different operational conditions. The simulation results prove the efficiency of the proposed cascade control which offers a better response than the traditional one, and improves further the transient and the steady-state response.