{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T05:48:28Z","timestamp":1738129708048,"version":"3.33.0"},"reference-count":25,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2011,9,9]],"date-time":"2011-09-09T00:00:00Z","timestamp":1315526400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,1]]},"abstract":"<jats:p> Recent advances in micro-electromechanical systems (MEMS) have led to the creation of small low-cost gyroscopes that have low power consumption levels. This paper presents a novel design methodology for a robust controller that can improve the performance of a vibratory MEMS gyroscopes despite the existence of coupling between vibratory gyroscope modes and inherent model uncertainties. The drive-mode of the gyroscope is able to track a desired sinusoidal trajectory while the sensing mode is bounded against uncertainties. In other words, while the sensing mode of the gyroscope operates under a bounded unknown disturbance and measurement noise, the multivariable robust quantitative feedback theory (QFT)-based controller compensates undesirable mechanical spring coupling between two vibrating directions, regulates both modes, and most significantly compels the output of the sensing mode to be bounded and the output of the drive mode to track a desired sinusoidal reference signal at a given amplitude and frequency. The robust performance of the closed-loop system is verified through a series of frequency-domain analyses. Finally, the effectiveness of the proposed QFT-based controller is demonstrated through simulations. <\/jats:p>","DOI":"10.1177\/0959651811407792","type":"journal-article","created":{"date-parts":[[2011,9,10]],"date-time":"2011-09-10T03:11:18Z","timestamp":1315624278000},"page":"70-81","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Multivariable quantitative feedback theory approach to robust control of vibrational micro-electromechanical systems gyroscope"],"prefix":"10.1177","volume":"226","author":[{"given":"K","family":"Torabi","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department, University of Kashan, Kashan, Iran"}]},{"given":"M","family":"Vali","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department, University of Kashan, Kashan, Iran"}]},{"given":"B","family":"Ebrahimi","sequence":"additional","affiliation":[{"name":"Aerospace Research Institute, Ministry of Science, Research, and Technology, Tehran, Iran"}]}],"member":"179","published-online":{"date-parts":[[2011,9,9]]},"reference":[{"key":"bibr1-0959651811407792","unstructured":"Ljung P. B. Micromachined gyroscope with integrated electronics. PhD Thesis, Department of Electrical Engineering, The University of California, Berkeley, 1997."},{"key":"bibr2-0959651811407792","unstructured":"Clark W. A. Micromachined vibratory rate gyroscope. PhD Thesis, Department of Electrical Engineering, The University of California, Berkeley, 1997."},{"key":"bibr3-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1109\/7361.983473"},{"key":"bibr4-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1109\/5.704269"},{"first-page":"283","volume-title":"Technical Digest of the Solid-state sensor and actuator workshop","author":"Clark W. A.","key":"bibr5-0959651811407792"},{"first-page":"605","volume-title":"Proceeding of the International Conference on Modeling and simulation of microsystems","author":"Shkel A.","key":"bibr6-0959651811407792"},{"key":"bibr7-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2005.844801"},{"key":"bibr8-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1109\/JMEMS.2002.807468"},{"key":"bibr9-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1115\/1.1849252"},{"first-page":"118","volume-title":"Proceedings of the 16th IEEE International Conference on Control applications","author":"Zheng Q.","key":"bibr10-0959651811407792"},{"key":"bibr11-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2008.2006451"},{"key":"bibr12-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1016\/S0019-0578(07)60069-X"},{"key":"bibr13-0959651811407792","doi-asserted-by":"crossref","unstructured":"Fei J. Adaptive sliding mode control with application to a MEMS vibratory gyroscope. PhD Thesis, The University of Acron, 2007.","DOI":"10.1115\/IMECE2007-41161"},{"volume-title":"MEMS vibratory gyroscope structural approaches to improve robustness","year":"2007","author":"Acar C.","key":"bibr14-0959651811407792"},{"volume-title":"The 18th Annual International Conference on Mechanical Engineering","author":"Torabi K.","key":"bibr15-0959651811407792"},{"volume-title":"Proceedings of the Fifth IEEE International Conference on Nano\/micro engineered and molecular systems","author":"Torabi K.","key":"bibr16-0959651811407792"},{"key":"bibr17-0959651811407792","unstructured":"Vali M. Modelling and robust control of micro-electro-mechanical systems (MEMS) devices. Master\u2019s Thesis, Mechanical Engineering Department, University of Kashan, Kashan, Iran, 2010 (in Persian)."},{"volume-title":"Quantitative feedback design of linear and non-linear control systems","year":"1998","author":"Yaniv O.","key":"bibr18-0959651811407792"},{"volume-title":"Synthesis of feedback systems","year":"1963","author":"Horowitz I. M.","key":"bibr19-0959651811407792"},{"key":"bibr20-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1080\/00207177208932261"},{"key":"bibr21-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1080\/00207177808922376"},{"key":"bibr22-0959651811407792","doi-asserted-by":"publisher","DOI":"10.1080\/00207179108953619"},{"key":"bibr23-0959651811407792","volume-title":"Quantitative feedback design theory (QFT)","volume":"1","author":"Horowitz I. 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