Robust fuzzy gain schedulling PID implementation for gimbal stabilization system

This paper presents a fuzzy gain scheduling PID controller for a gimbal stabilization platform. A fuzzy method is used to calculate the main controller parameters based on the close loop error, as well as its derivative. A comparison between this method and other conventional controllers used for this application is made focused on robust stability. Finally, a complete implementation over an embedded system is achieved, getting real result for each controller to compare with the simulated ones.