Control Moment Gyroscopes are important momentum generation devices used for controlling attitude of satellites. They also find application in roll stabilization of ships and racing bikes.

At the Control Systems Institute of TUHH, a 4 DOF CMG by ECP Inc, is available. The apparatus can be used in various configurations ranging from demonstration purposes to advanced research. The system is underactuated and actuation is available only on two DOFs.

This project deals with design of a multivariable controller for the said apparatus. It envisages a simultaneous control of the two unactuated DOFs by using the other two actuated DOFs.