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It is known that collocated dynamical systems can be robustly stabilized by using symmetric static output feedback controllers and some optimization methods of the feedback gain matrices have been proposed for symmetric systems. This paper extends the result to the asymmetric gyroscopic systems. We first show that static output feedback controllers having asymmetric gains are appropriate for optimal disturbance attenuation in the sense of H∞ control, and provide an optimization method using LMIs. Then it is shown that the obtained optimal controller works to cancel the gyroscopic term included in the system. We further propose to construct dynamic output feedback controllers based on the static optimal gain matrices. Finally, some numerical study results are shown to verify the effectiveness.

Robust Stabilization of Collocated Gyroscopic Systems Using Output Feedback Control and Its Optimization Using LMIs