능동 하모닉 기어구동시스템의 동기화제어

In this paper, the authors consider a gimbal system in which a camera is installed to reconnoiter the objects or targets. The issue for this considered system is to obtain information with good quality always. To achieve given objective, it is necessary to control the gimbal system with accurate rotation angle and speed. In this paper, the authors design a robust control system based on H ∞ control framework. The controller is designed using a plant model obtained by experiment and simulation. And the experiment result with good control performance is presented.