COST-OPTIMAL STATE FEEDBACK CONTROLLER FOR ALL-ATTITUDE GIMBAL SYSTEM

An improved cost-optimal state feedback control system for stabilizing the nertial reference platform in all-attitude inertial guidance systems which uses the "region" control concept. It reduces the computational requirements of cost-minimizing state feedback to within the capacity of aerospace vehicle onboard control processors. The control system iterates the feedback compensation process so as to reduce the R-gyro error to essentially a zero value and to prevent the gimbal assembly from entering a "gimbal lock" orientation.