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Robust Controller Design for Hemispherical Resonator Gyroscope

Chul Hyun, Byung Su Chang, Taesam Kang


In this paper, robust H∞ controller for hemispherical resonator gyroscope is designed. Hemispherical resonator gyroscope(HRG) is one of the coriolis vibratory gyroscope(CVG) which has very stable quartz hemispherical resonator and shows very precise performance. HRG signals are usually modulated at the several kHz of resonant frequency. So the general control scheme cannot be applied directly because general control schemes mainly focused at low frequency range. In this dissertation, H∞ controller which is suitable for HRG properties is designed. The H∞ controller for HRG is robust to model uncertainties and has advantages in ease of implementation and analysis. From the experiments, it is verified that the proposed control loop is successfully operated.

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