Self-tuning controller for nonlinear inertial stabilization systems

The ability to compensate for disturbances resulting from nonlinear phenomena such as Coulomb friction in inertial stabilization systems has been demonstrated to be feasible when the plant dynamics of the system are accurately modeled. However, for cases where the plant is unknown or changing, a self-tuning control algorithm is desired to provide robustness. This paper formulates such a self-tuning control algorithm with specific application to systems with inherent nonlinearities, The ability of the algorithm to self-tune and compensate for nonlinear induced disturbances is demonstrated for an inertial stabilization gimbal control system with Coulomb type bearing friction.