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 to enhance the closed loop performance in presence of disturbance, uncertainties and delay a double loop mixture of MPC and robust controller is proposed. This double loop controller ensures smooth tracking for a 3-axis gyro-stabilized platform which has delay intrinsically. This control idea is suggested to eliminate high frequency disturbances and minimize steady state error with minimum power consumption in simulation and experiment. Proposed controller based on the combination of ℋ₂ and ℋ_∞ controllers in the inner control loop shows the robustness of the proposed methodology. In the outer loop to have a good tracking performance, an integrated MPC is used to handle delay in system dynamics. Also, the main idea for dealing with uncertainties is using integral and derivative of platform attitude. In the proposed platform, the ℋ_∞ controller is compared with ℋ_∞/ℋ₂ controller in KNTU laboratory in theory and experiment. Results of experimental set up shows the same reaction of two controllers against disturbance and uncertainties in delayed system.

Keywords: 3-axis GSP, Predictive control, ℋ2/ℋ∞ control, double loop controller

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