Orientation Control with Velocity Feedback Loop for an Aerospatial Gimbal Nozzle Implemented in a Hardware-in-the-loop Simulation Environment

This article presents the implementation of a real-time simulator of a position controller with velocity feedback to control the orientation of a gymbal noozle used in liquid fueled launch vehicles. The plant´s mathematical model is comented, and Lyapunov´s second method is used to verify system´s closed loop stability. The implementation of the hardware-in-the-loop simulation model is also presented.