This paperpresentsthedesignandsuccessfulexperimentalvalidationofalinearparameter-varying
(LPV) controlstrategyforafour-degrees-of-freedomcontrolmomentgyroscope(CMG).TheMIMOplant
is highlycoupledandnonlinear.First,alinearizedmodelwithmovingoperatingpointisusedto
construct anLPVmodel.Then,agridding-basedLPVstate-feedbackcontrolisdesignedthatclearly
outperforms lineartime-invariant(LTI)controllers.Moreover,awayisproposedtoselectpre-filter gains
for referenceinputsthatcanbegeneralizedtoalargeclassofmechanicalsystems.Overall,thestrategy
allowsasimpleimplementationinreal-timeandmaybeofinterestforapplicationssuchasattitude
control ofasatellite.ThemethodisappliedtoalaboratoryscaleCMG,andexperimentalresultsillustrate
that theproposedLPVcontrollerachievesindeedabetterperformanceinamuchwiderrangeof
operation thanlinearcontrollersreportedintheliterature