Guaranteed specification control design of inertial platforms for a high accuracy calibration device

A case study of robust control design is presented. The physical plant under examination consists of an inertial platform for calibration of high-accuracy accelerometers. The constructed mathematical model is discussed. The techniques used for estimating model parameters, based on an unknown but bounded description of uncertainty, are illustrated, and uncertainty intervals for parameter estimates are provided. On the basis of this uncertainty description, a robustness analysis of some candidate regulators is performed, taking into consideration specifications such as stability, disturbance attenuation, and command power limitation. Robustness specification margins against parameter variations, computed for the closed-loop control system, are considered. Their implications on the robust regulator design for the considered plant are discussed