| This paper considers the system identification of a partially known mathematical model of a 2-axis gimbaled gyroscope system. A method of identifying the system is developed which requires knowledge of all system states and their derivatives. Since all of this information is not assumed to be available, higher order sliding mode control theory and, in particular, higher order sliding mode observation algorithms are studied and used to produce high fidelity estimations of the unknown state information. Techniques are then presented to overcome difficulties unique to the gyroscopic system considered. It is shown that if state measurements without noise corruption are available, the system may accurately be solved. If measurements include noise, then knowledge of the moments of inertia about two of the axis is required to obtain the solution. In either case, an approximate nonlinear model is formed for the unknown system. The results of the identification of a partially known mathematical model of a 2-axis gimbaled gyroscope system is confirmed on a practical case study. |
