Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
As a production quality index of hematite grinding process,particle size(PS)is hard to be measured in real time.To achieve the PS estimation,this paper proposes a novel data driven model of PS using stochastic configu...As a production quality index of hematite grinding process,particle size(PS)is hard to be measured in real time.To achieve the PS estimation,this paper proposes a novel data driven model of PS using stochastic configuration network(SCN)with robust technique,namely,robust SCN(RSCN).Firstly,this paper proves the universal approximation property of RSCN with weighted least squares technique.Secondly,three robust algorithms are presented by employing M-estimation with Huber loss function,M-estimation with interquartile range(IQR)and nonparametric kernel density estimation(NKDE)function respectively to set the penalty weight.Comparison experiments are first carried out based on the UCI standard data sets to verify the effectiveness of these methods,and then the data-driven PS model based on the robust algorithms are established and verified.Experimental results show that the RSCN has an excellent performance for the PS estimation.展开更多
The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robu...The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality （LMI）. Finally, a numerical example is provided to demonstrate the application of the proposed method.展开更多
The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback me...The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback method, the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of H∞ disturbance attenuation not only when all actuators are operational, but also in case of some actuator failures, The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities （LMIs）. A numerical example is also given to illustrate the design procedures and their effectiveness.展开更多
The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearclled. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtain...The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearclled. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtained by using switched Lyapunov function. Then, based on the characterization, a linear matrix inequality （LMI） approach is developed to design a switched output feedback controller which guarantees the stability and H∞ performance of the closed-loop system. A numerical example is presented to demonstrate the application of the proposed method.展开更多
The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent...The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities （LMIs）. For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.展开更多
The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy r...The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy robust H ∞ controller design for the system is studied.Assuming that the nonlinear uncertain functions in the model considered are gain-bounded, a sufficient condition for the robustly asymptotic stability of the closed-loop system is obtained via Lyapunov stability theory.By solving the LMI, a feedback control law which guarantees the robustly asymptotic stability of the closed-loop system is constructed and the effect of the disturbance input on the controlled output is ruduced to a prescribed level.展开更多
Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation...Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.展开更多
The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, ...The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust Hoo controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.展开更多
The robust H∞ filtering problem for uncertain discrete-time Markovian jump linear systems with mode- dependent time-delays is investigated. Attention is focused on designing a Markovian jump linear filter that ensure...The robust H∞ filtering problem for uncertain discrete-time Markovian jump linear systems with mode- dependent time-delays is investigated. Attention is focused on designing a Markovian jump linear filter that ensures robust stochastic stability while achieving a prescribed H∞ performance level of the resulting filtering error system, for all admissible uncertainties. The key features of the approach include the introduction of a new type of stochastic Lyapunov functional and some free weighting matrix variables. Sufficient conditions for the solvability of this problem are obtained in terms of a set of linear matrix inequalities. Numerical examples are provided to demonstrate the reduced conservatism of the proposed approach.展开更多
This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the ass...This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the assumption of a complete access to the norm-bounds of the system uncertainties and controller gain variations, sufficient conditions on the existence of robust stochastic stability and γ-disturbance attenuation H∞ property are presented. A key feature of this scheme is that the gain matrices of controller are only based on It, the observed projection of the current regime rt.展开更多
The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigat...The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigated. Based on the bounded real lemma a sufficient condition for the existence of a decentralized robust H_∞ state feedback controller was derived. This condition is expressed as the feasibility problem of a certain nonlinear matrix inequality. The controller, which makes the closed-loop large-scale system robust stable and satisfies the given H_∞ performance, is obtained by the offered homotopy iterative linear matrix inequality method. A numerical example is given to demonstrate the effectiveness of the proposed method.展开更多
Based on the principle of statistics and the research results by Zhu Jianjun, the paper establishesthe mean Cook distance of scale parameter and studies its properties. The paper still presents the robust estimate of ...Based on the principle of statistics and the research results by Zhu Jianjun, the paper establishesthe mean Cook distance of scale parameter and studies its properties. The paper still presents the robust estimate of scale parameter with minimum mean Cook distance and theoretically shows that scale parameter isnot "nuisance parameter" and it determined by the plus weight squared sums of the residuals of observations.A simple numerical example is given.展开更多
A novel Krein space approach to robust H∞ filtering for linear uncertain systems is developed. The parameter uncertainty, entering into both states and measurement equations, satisfies an energy-type constraint. Then...A novel Krein space approach to robust H∞ filtering for linear uncertain systems is developed. The parameter uncertainty, entering into both states and measurement equations, satisfies an energy-type constraint. Then a Krein space approach is used to tackle the robust H∞ filtering problem. To this end, a new Krein space formal system is designed according to the original sum quadratic constraint （SQC） without introducing any nonzero factors into it and, consequently, the estimate recursion is obtained through the filter gain in Krein space. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approach.展开更多
The problem of state estimation for uncertain systems has attracted a recurring interest in the past decade. In this paper, we shall give an overview on some of the recent development in the area by focusing on the ro...The problem of state estimation for uncertain systems has attracted a recurring interest in the past decade. In this paper, we shall give an overview on some of the recent development in the area by focusing on the robust H2 (Kaiman) filtering of uncertain discrete-time systems. The robust H2 estimation is concerned with the design of a fixed estimator for a family of plants under consideration such that the estimation error covariance is of a minimal upper bound. The uncertainty under consideration includes norm-bounded uncertainty and polytopic uncertainty. In the finite horizon case, we shall discuss a parameterized difference Riccati equation approach for systems with normbounded uncertainty and pinpoint the difference of state estimation between systems without uncertainty and those with uncertainty. In the infinite horizon case, we shall deal with both the norm-bounded and polytopic uncertainties using a linear matrix inequality (LMI) approach. In particular, we shall demonstrate how the conservatism of design can be improved using a slack variable technique. We also propose an iterative algorithm to refine a designed estimator. An example will be given to compare estimators designed using various techniques.展开更多
A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation con...A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation control system can prevent the possible tumbling down of the suspended rotor and ensure a smooth and fast initial-rotation process. After the initial-rotation process, in order to maintain the rotational speed accurately constant, the RCRSC is acquired through the mixed sensitivity design approach. Simulation results show that the actuation voltage disturbances from the internal carrier waves in the gyro is reduced by more than 15.3 dB, and the speed fluctuations due to typical external vibrations ranging from 10 Hz to 200 Hz can also be restricted to 10^-3 rad/s order.展开更多
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金Projects(61603393,61741318)supported in part by the National Natural Science Foundation of ChinaProject(BK20160275)supported by the Natural Science Foundation of Jiangsu Province,China+1 种基金Project(2015M581885)supported by the Postdoctoral Science Foundation of ChinaProject(PAL-N201706)supported by the Open Project Foundation of State Key Laboratory of Synthetical Automation for Process Industries of Northeastern University,China
文摘As a production quality index of hematite grinding process,particle size(PS)is hard to be measured in real time.To achieve the PS estimation,this paper proposes a novel data driven model of PS using stochastic configuration network(SCN)with robust technique,namely,robust SCN(RSCN).Firstly,this paper proves the universal approximation property of RSCN with weighted least squares technique.Secondly,three robust algorithms are presented by employing M-estimation with Huber loss function,M-estimation with interquartile range(IQR)and nonparametric kernel density estimation(NKDE)function respectively to set the penalty weight.Comparison experiments are first carried out based on the UCI standard data sets to verify the effectiveness of these methods,and then the data-driven PS model based on the robust algorithms are established and verified.Experimental results show that the RSCN has an excellent performance for the PS estimation.
基金This project was supported by the Science and Technology Found of Liaoning Province (200140104)
文摘The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality （LMI）. Finally, a numerical example is provided to demonstrate the application of the proposed method.
基金the National Natural Science Foundation of China (60574001)Program for New Century Excellent Talents in University (05-0485)Program for Innovative Research Team of Jiangnan University
文摘The robust reliable H∞ control problem for discrete-time Markovian jump systems with actuator failures is studied. A more practical model of actuator failures than outage is considered. Based on the state feedback method, the resulting closed-loop systems are reliable in that they remain robust stochastically stable and satisfy a certain level of H∞ disturbance attenuation not only when all actuators are operational, but also in case of some actuator failures, The solvability condition of controllers can be equivalent to a feasibility problem of coupled linear matrix inequalities （LMIs）. A numerical example is also given to illustrate the design procedures and their effectiveness.
基金the National Natural Science Foundation of China (60574083)the Scientific Research Foundation for the Returned Overseas Chinese Scholars (SRF for ROCS),State Education Ministry of China.
文摘The H∞ output feedback control problem for uncertain discrete-time switched systems is reasearclled. A new characterization of stability and H∞ performance for the switched system under arbitrary switching is obtained by using switched Lyapunov function. Then, based on the characterization, a linear matrix inequality （LMI） approach is developed to design a switched output feedback controller which guarantees the stability and H∞ performance of the closed-loop system. A numerical example is presented to demonstrate the application of the proposed method.
文摘The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with timevarying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities （LMIs）. For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.
基金supported by the Program for Natural Science Foundation of Beijing (4062030)Young Teacher Research Foundation of North China Electric Power University
文摘The problem of fuzzy modeling for state and input time-delays systems with a class of nonlinear uncertainties by fuzzy T-S model is addressed.By using the linear matrix inequality（LMI） method, the problem of fuzzy robust H ∞ controller design for the system is studied.Assuming that the nonlinear uncertain functions in the model considered are gain-bounded, a sufficient condition for the robustly asymptotic stability of the closed-loop system is obtained via Lyapunov stability theory.By solving the LMI, a feedback control law which guarantees the robustly asymptotic stability of the closed-loop system is constructed and the effect of the disturbance input on the controlled output is ruduced to a prescribed level.
基金supported by the State Key Laboratory of Geo-Information Engineering(SKLGIE2022-Z-2-1)the National Natural Science Foundation of China(41674024,42174036).
文摘Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.
文摘The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno （T-S） fuzzy systems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust Hoo controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.
文摘The robust H∞ filtering problem for uncertain discrete-time Markovian jump linear systems with mode- dependent time-delays is investigated. Attention is focused on designing a Markovian jump linear filter that ensures robust stochastic stability while achieving a prescribed H∞ performance level of the resulting filtering error system, for all admissible uncertainties. The key features of the approach include the introduction of a new type of stochastic Lyapunov functional and some free weighting matrix variables. Sufficient conditions for the solvability of this problem are obtained in terms of a set of linear matrix inequalities. Numerical examples are provided to demonstrate the reduced conservatism of the proposed approach.
基金Supported by National Young Science Foundation of P.R.China(60604003)National Natural Science Key Foundation of P.R.China(60434020)National Key Technologies Research and Development Program in the 10th Five-year Plan(2001BA204B01)
文摘这份报纸处理与州的时间延期，参数无常和未知统计特征，但是与有限力量骚乱为 Lurie 单个系统的一个班过滤的柔韧的 H 的问题，试图设计一个要用体力地稳定的过滤器以便单个系统是的不明确的 Lurie 时间延期不仅常规，免费、稳定的推动，而且为所有可被考虑的无常为过滤错误动力学有 H 性能的规定水平。为如此的一个过滤器的存在的一个足够的条件以线性矩阵不平等(LMI ) 被建议。当 LMI 的这个集合的一个答案存在时，一个需要的过滤器的参量的矩阵能容易用 LMI 工具箱被获得。
基金Supported by National Natural Science Foundation of P. R. China (60274012)
文摘This paper describes the synthesis of robust and non-fragile H∞ state feedback controllers for a class of uncertain jump linear systems with Markovian jumping parameters and state multiplicative noises. Under the assumption of a complete access to the norm-bounds of the system uncertainties and controller gain variations, sufficient conditions on the existence of robust stochastic stability and γ-disturbance attenuation H∞ property are presented. A key feature of this scheme is that the gain matrices of controller are only based on It, the observed projection of the current regime rt.
基金Project (60474003) supported by the National Natural Science Foundation of China project(20050533028) supported bythe Specialized Research Fund for the Doctoral Programof Higher Education of China
文摘The design of decentralized robust H_∞ state feedback controller for large-scale interconnected systems with value bounded uncertainties existing in the state, control input and interconnected matrices was investigated. Based on the bounded real lemma a sufficient condition for the existence of a decentralized robust H_∞ state feedback controller was derived. This condition is expressed as the feasibility problem of a certain nonlinear matrix inequality. The controller, which makes the closed-loop large-scale system robust stable and satisfies the given H_∞ performance, is obtained by the offered homotopy iterative linear matrix inequality method. A numerical example is given to demonstrate the effectiveness of the proposed method.
文摘Based on the principle of statistics and the research results by Zhu Jianjun, the paper establishesthe mean Cook distance of scale parameter and studies its properties. The paper still presents the robust estimate of scale parameter with minimum mean Cook distance and theoretically shows that scale parameter isnot "nuisance parameter" and it determined by the plus weight squared sums of the residuals of observations.A simple numerical example is given.
基金supported by the National Natural Science Foundation of China (51179039)the Ph.D. Programs Foundation of Ministry of Education of China (20102304110021)
文摘A novel Krein space approach to robust H∞ filtering for linear uncertain systems is developed. The parameter uncertainty, entering into both states and measurement equations, satisfies an energy-type constraint. Then a Krein space approach is used to tackle the robust H∞ filtering problem. To this end, a new Krein space formal system is designed according to the original sum quadratic constraint （SQC） without introducing any nonzero factors into it and, consequently, the estimate recursion is obtained through the filter gain in Krein space. Finally, a numerical example is given to demonstrate the effectiveness of the proposed approach.
文摘The problem of state estimation for uncertain systems has attracted a recurring interest in the past decade. In this paper, we shall give an overview on some of the recent development in the area by focusing on the robust H2 (Kaiman) filtering of uncertain discrete-time systems. The robust H2 estimation is concerned with the design of a fixed estimator for a family of plants under consideration such that the estimation error covariance is of a minimal upper bound. The uncertainty under consideration includes norm-bounded uncertainty and polytopic uncertainty. In the finite horizon case, we shall discuss a parameterized difference Riccati equation approach for systems with normbounded uncertainty and pinpoint the difference of state estimation between systems without uncertainty and those with uncertainty. In the infinite horizon case, we shall deal with both the norm-bounded and polytopic uncertainties using a linear matrix inequality (LMI) approach. In particular, we shall demonstrate how the conservatism of design can be improved using a slack variable technique. We also propose an iterative algorithm to refine a designed estimator. An example will be given to compare estimators designed using various techniques.
基金supported by the National High Technology Research and Development Program of China(863 Program)(2002AA745120)the National Defense Pre-research Foundation(9140A09020706JW314)the National Natural Science Foundationof China(160402003).
文摘A novel soft initiai-rotation control system and an H∞ robust constant rotational speed controller （RCRSC） for a rotational MEMS （micro-electro-mechanical system） gyro are presented. The soft initial-rotation control system can prevent the possible tumbling down of the suspended rotor and ensure a smooth and fast initial-rotation process. After the initial-rotation process, in order to maintain the rotational speed accurately constant, the RCRSC is acquired through the mixed sensitivity design approach. Simulation results show that the actuation voltage disturbances from the internal carrier waves in the gyro is reduced by more than 15.3 dB, and the speed fluctuations due to typical external vibrations ranging from 10 Hz to 200 Hz can also be restricted to 10^-3 rad/s order.
