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Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines;
Vibratory micro rate integrating gyroscopes (MRIG) are conventionally modeled using the position and velocity of the gyroscope, as the state space variables. This work describes the dynamic analysis of a z-axis MRIG using an alternate set of dynamic variables, which are the angular momentum, the inner product between position and linear momentum vectors, the Lagrangian and total energy of the system. This alternate description is used to derive the conditions for the ideal gyroscope to operatedoi:10.1115/dscc2012-movic2012-8773 fatcat:f2vjodqajza2dbbdlyb7hp32rm