Robust Controller Design Using the Nevanlinna-Pick Interpolation in Gyro Stabilized Pod

الملخص EN

The sensitivity minimization of feedback system is solved based on the theory of Nevanlinna-Pick interpolation with degree constraint without using weighting functions.

More details of the dynamic characteristic of second-order system investigated, which is determined by the location of spectral zeroes, the upper bound γ of S, the length of the spectral radius and the additional interpolation constraints.

And the guidelines on how to tune the design parameters are provided.

Gyro stabilized pod as a typical tracking system is studied, which is based on the typical structure of two-axis and four-frame.

The robust controller is designed based on Nevanlinna-Pick interpolation with degree constraint.

When both friction of LuGre model and disturbance exist, the closed-loop system has stronger disturbance rejection ability and high tracking precision.

Numerical examples illustrate the potential of the method in designing robust controllers with relatively low degrees.