m Rezaei Darestani - Aerospace Department, Khaje Nasir Toosi University of Technology, Tehran, Iran
a.a Nikkhah - Aerospace Department, Khaje Nasir Toosi University of Technology, Tehran, Iran
a Khaki Sedigh - Electrical and Computer Department, Khaje Nasir Toosi University of Technology, Tehran, Iran

An integrated robust optimal control is presented to enhance the closed loop performance in the presence of disturbance and uncertainties, to ensure smooth tracking and elimination of high frequencydisturbances especially in accurate systems with minimum power consumption. Simulation result ofthe proposed controller based on the combination of ℋ2 and ℋ∞ controllers is used to show the effectiveness of the proposed methodology. A 3 axis gyro-stabilized MIMO platform is considered and the results of the NLPID and a single ℋ∞ controller are compared with the proposed ℋ∞/ℋ2 controller.

3 Axis GSP,Predictive Control,ℋ2/ℋ∞ Control