The digital anti-windup LQG/LTR controller design for a two axis gimbal system

To track the target on dynamic platforms such as an aircraft, a vehicle, and guided missile, servo structure, which includes external track loop for sights stabilization and internal speed loop, is needed. Recently, stabilization platform gets smaller. The main issue of small gimbal system, for example, is its low performance of stabilization. LQG/LTR controller is applicable as one of the problem methods. We have designed digital LQG/LTR controller with anti-windup function, in order to avoid degradation loop capacity of stabilization due to actuator saturation, when high electric power is transferred to stabilization loop, which is internal pointing loop.