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A reduced-order disturbance observer applied to inertially stabilized line-of-sight control

One of the key factors that determine how well an inertially stabilized Line-of-Sight control system performs is the ability of the feedback loop to counteract, or reject disturbances such as friction and mass imbalance. These disturbances are usually a function of both the electro-mechanical design and the dynamic operating environment. In a typical control system, this disturbance rejection capability is determined primarily by the loop bandwidth which, in turn, is directly affected by the dynamic characteristics of the gyro, actuator or motor, structural interactions within the system, and noise coupling from the gyro or other sources. A state estimator, configured as a disturbance observer, has been previously shown to be an effective method to augment the control system and improve the disturbance rejection performance. This paper discusses a particularly straightforward reduced-order generic observer design which is relatively insensitive to system parameters and is simple enough that it can be implemented with a few lines of digital code or an analog circuit. The effectiveness of the design is investigated with respect to both its performance and its robustness.