Design of a quadratic linear tracking controller to minimize battery power consumption of a 2-DOF MEMS vibratory gyroscope

In this paper, an accurate model of the MEMS vibratory gyroscope is demonstrated The state space model has the advantage of being controllable. A Linear Quadratic Tracking (LQT) controller is designed to make the sense mode accelerometer output a sinusoidal oscillation along the y axis of the gyroscope while keeping the battery energy usage as low as possible. Although the precedent adaptive controllers on other papers has the advantage of perfect tracking, the proposed design also brings about minimizing the energy consumption.