Digital l1 controller based on Linear Matrix Inequality (LMI) for Line-of-sight stabilization

Vibration reduces the ability of a camera to detect far away targets which leads to the use of stabilized platforms. Despite of much research on stabilized platforms, the need of more accurate systems still exists as a consequence of sensor resolution improvements. The stabilization problem is the problem of attenuating persistent disturbances which is a suitable case-study for l1 control problem. In this paper, a robust l1 controller is designed for a nonlinear gyro-stabilized system based on LMI approach. The performance of the introduced controller is evaluated by simulation and real-time implementation and is compared with a Proportional-plus-Integral (PI) controller with a notch filter.