Testing and comparison of different control methods on a gimbal system

Gimbal systems are systems that carry the payload on them and direct them to a specific location. Controllers designed for gimbal systems are required to be robust for environmental disturbances and model parameter changes. For this purpose, many different control structures are used in gimbal systems in order to keep the control performance at the desired level. In this thesis, Proportional-Integral (PI) control, Self-Tuning PI control, Integral Action Linear Quadratic Control (LQR) and Input-Output Model Based Relay Sliding Mode Control (IO-RSMC) are used. In the first part of the thesis, the control structures that used are explained. In the next section, the results obtained as a result of applying these control structures to different transfer functions in the simulation environment are examined. In the fourth chapter, the results obtained by applying the control structures on a real gimbal system are given.