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This paper presents a novel control strategy, unified discrete time optimal control (UDTOC), for controlling the sense axis of a vibrational MEMS gyroscope and estimating the rotation rate. The total disturbance, which includes both the internal dynamics and external disturbances, is estimated by a current discrete extended state observer and cancelled by the discrete time optimal controller in real...
Recent research has led to the design of effective steering control strategies which employ, as controlled variables, the steering velocity and the yaw rate. The yaw rate can be measured by means of Micro Electro-Mechanical Systems (MEMS) gyroscopes; steering angle potentiometers, instead, are in general less cost effective and less robust. Thus, there is an interest in developing effective steering...
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