Design of an adaptive controller for a 2-DOF MEMS vibratory gyroscope to obtain perfect tracking and angular velocity estimation with noise, disturbance and parameter variation analysis

In this paper, an accurate model of the MEMS vibratory z-axis gyroscope is demonstrated and an adaptive controller is designed to make the sense mode accelerometer output a sinusoidal oscillation along the y axis of the gyroscope with the desired amplitude and frequency. The designed scheme has the capability of estimating the angular velocity due to the persistently excitation condition. Ultimately, the noise, disturbance and parameter variation analysis is carried out through simulation to check up the robustness of the overall system. The simulation results are promising.