Comparison of robust control methods for two axis gimbal systems

In this thesis, application and comparison of robust control methods for two axis gimbal systems are investigated. Uncertainty of the system obtained as the difference between real system and theoritical model. Robust control methods are designed to achieve robust stability and robust performance. Typical 1 degree-of-freedom H-infinity loop shaping, H-infinity mixed sensitivity ve Mu synthesis controller designed to obtain robustness conditions. In addition to obtain robustness conditions, model based 2 degree-of-freedom H-infinity loop shaping, H-infinity mixed sensitivity ve Mu synthesis controller designed for better reference tracking. Designed controllers tested on a real gimbal system and obtained results compared.