robust controller design using the nevanlinna-pick interpolation in gyro stabilized pod鲁棒控制器设计使用nevanlinna-pick插值在陀螺稳定吊舱.pdf

Hindawi Publishing Corporation Discrete Dynamics in Nature and Society Volume 2010, Article ID 569850, 16 pages doi:10.1155/2010/569850 Research Article Robust Controller Design Using the Nevanlinna-Pick Interpolation in Gyro Stabilized Pod Bin Liu,1, 2 Chang-Hong Wang,1 Wei Li,1 and Zhuo Li3 1 Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China 2 School of Electric Information Engineering, Northeast Petroleum University, Daqing 163318, China 3 College of Earth Science, Northeast Petroleum University, Daqing 163318, China Correspondence should be addressed to Bin Liu, liuzhen8936@ Received 22 September 2010; Accepted 13 November 2010 Academic Editor: Li Xian Zhang Copyright q 2010 Bin Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. The sensitivity minimization of feedback system is solved based on the theory of Nevanlinna- Pick interpolation with degree constraint without using weighting functions. More details of the dynamic characteristic of second-order system investigated, which is determined by the location of spectral zeroes, the upper bound γ of S, the length of the spectral radius and the additional interpolation constraints. And the guidelines on how to tune the design parameters are provided. Gyro stabilized pod as a typical tracking system is studied, which is based on the typical structure of two-axis and four-frame. The robust controller is designed based on Nevanlinna- Pick interpolation with degree constraint. When both