摘要：The gimbal or inertial stabilization platform (ISP) is used to stabilize the payload’s line of sight (LOS) towards a stationary or moving target. It can be achieved if there is isolation between the payload and the base of the gimbal. This paper presents a single-axis gimbal loop in which the LOS rate is stabilized using a robust proportional-integral-derivative (PID) controller. The PID controller parameters are obtained by using a graphical technique known as stability boundary locus (SBL) approach such that the overall gimbal stabilization loop will have some minimum specific gain margin and phase margin. The PID controller is further designed in the presence of time delay. The proposed controller is compared with PI control scheme available in literature for rise time, settling time, percentage overshoot, ISE, ITSE, IAE, and ITAE. The simulations are carried out in MATLAB which exhibit better results in comparison with PI control based approach.
关键词：Gimbal;PID control;Specific gain margin;phase margin;Stability boundary locus;Time delay
