Filter Design for Rate Gyro Sensor Systems Based on H_∞ Control

Abstract

Although inexpensive and small sensors are often useful for systemcontrol, we have to compromise with them on some characteristics suchas accuracy, bandwidth and so on. Nevertheless, the performance canbe improved, we compose systems of heterogeneous sensors by usingfilters. However, the design of such filters may not bestraightforward, since both the gain and phase should be dealt with atthe same time. This paper proposes a systematic filter design methodbased on H_∞ control. We examine the effectiveness of theproposed method by an application to rate gyro systems.