Abstract: The ability to compensate for disturbances resulting form nonlinear phenomena such as Coulomb friction in inertial stabilization systems has been demonstrated to be feasible when the plant dynamics of the system are accurately modeled. However, for cases where the plant in unknown or changing, a self-tuning control algorithm is desired to prevent instability. This paper formulates such a self-tuning control algorithm with specific application to systems with inherent nonlinearities. The ability of the algorithm to self- tune and compensate for nonlinear induced disturbances is demonstrated for an inertial stabilization gimbal control system with Coulomb type bearing friction. !8
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