Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive

Table 1

System physical parameters.

Parameter	Value
𝐿	1.2 mH
𝑅	10.8 Ω
𝐶𝑒	0.892 V/(rad/s)
𝐶𝑙	0.774 N⋅m/A
𝐾𝑠	789
𝐾𝑢	0.056
𝐽𝑚	0.0013 kg⋅m^2
𝐽𝑙	0.0397 kg⋅m^2
𝐵𝑚	0.043 N⋅m/(rad/s)
𝐾𝑒	30000 N⋅m/rad
𝑁	100