PID-augmented adaptive control of a gyro mirror los system

Abstract

A composite control scheme using a synergy of PID and adaptive control is proposed. The adaptive control component provides an adaptive feedforward control signal, while the PID component provides feedback control for robustness against modeling errors in the feedforward control design. The PID control can be automatically tuned using a relay. The control scheme developed is relevant to a large class of nonlinear servo-mechanical systems, although in this paper, it is specifically implemented and demonstrated on a gyro mirror line-of-sight (LOS) system.