Design of servo for gyro test table using linear optimum control theory

A control system is designed and implemented for a test table the motion of which is to track the output of a gyroscope. The process to be controlled is governed by a third-order differential equation with an important nonlinearity due to static friction. Representing the friction as an independent random walk yields a dynamic process amenable to design by methods of linear control theory. An existing design program was used to calculate the compensator transfer function which was realized with standard capacitors, resistors, and operational amplifiers. The compensator was installed in the test table and results in excellent closed-loop system performance.