Optimal control of a MEMS gyroscope based on the Koopman theory

Mehran Rahmani, Sangram Redkar

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Microelectromechanical (MEMS) gyroscopes are small devices used in different industries such as automotive and robotics systems due to their small size and low costs. The MEMS gyroscopes constantly encounter external disturbances, which introduce some mechanical and electromechanical nonlinearity in those systems. In this paper, the Koopman theory is applied to the nonlinear dynamic model of MEMS gyroscope to the linear dynamics model. Dynamic mode decomposition (DMD) is used to obtain eigenfunctions using Koopman’s theory to linearize the system. Then, a linear quadratic regulator (LQR) controller is used to control the MEMS gyroscope. The simulation results verify the performance of the proposed controller in terms of high-tracking performance.

Original languageEnglish (US)
Pages (from-to)2256-2264
Number of pages9
JournalInternational Journal of Dynamics and Control
Issue number5
StatePublished - Oct 2023


  • Dynamic mode decomposition
  • Koopman theory
  • LQR controller
  • MEMS gyroscope
  • Nonlinearity

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Modeling and Simulation
  • Mechanical Engineering
  • Control and Optimization
  • Electrical and Electronic Engineering


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