Compact H∞ robust rebalance loop controller design for a micromachined electrostatically suspended gyroscope

In this paper, we design a compact H∞ robust rebalance loop controller that is featured with comprehensive performance achievement and relatively easy practical implementation for a dual-axis micromachined rotational gyro. By incorporating the bilinear pole-shifting transform into the weighted multivariable mixed-sensitivity framework, the design procedure of the robust controller is able to allow for various realistic performance requirements in terms of steady-state error, dynamic response characteristics, disturbance rejection and robustness to parametric variations. In comparison with a conventional decentralized lead-lag controller, the H∞ robust controller, which is considered as an efficient substitute for the former, is thoroughly analyzed and simulationally validated under a set of realistic scenarios.