Modal-Space Control of Distributed Gyroscopic Systems

This paper presents a control scheme for distributed gyroscopic systems based on modal synthesis. The control parameters for each controlled mode are chosen independently of those for any other mode, thus resulting in a diagonal gain matrix for the controlled modes. The modal control laws are implemented by means of a reduced-order observer that estimates linear combinations of the modal state vector. The proposed scheme considers uncontrolled modes simultaneously and has the advantage that it minimizes truncation effects and that it exhibits no observation spillover instability due to modeled uncontrolled modes. The paper also includes specification of positions of actual control forces and torques and sensors.