Self-scheduled control of a gyroscope

Julian Theis, Christian Radisch, Herbert Werner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


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.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town


  • Gyroscopes
  • Linear parameter-varying systems
  • Mixed sensitivity problem
  • Multivariable control systems
  • Robust control applications
  • Robust controller synthesis

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