The Stabilization Loop Design for a Two-Axis Gimbal System Using LQG/LTR Controller

The control theory has been developed variously from traditional PID control to modern fuzzy & neural control. PID controller, nevertheless, is still widely used in the industry field. Its structure is very simple, easy to deal with and applied broadly. It does not need mathematical model in system, either. However, all the systems contain non-linear structure and they get more complicated as industries are developing and it is limited to adopt PID controller. Therefore, one of the alternatives is LQG/LTR controller. This paper shows stabilization loop design of two axis gimbal system. We have designed LQG/LTR controller in gimbal system and applied them to the system and compared them with Lead-PI controller that was used to gimbal system before