Hybrid Robust Output Regulation for the METIS Chopper

We present the design and analysis of a Hyrbid controller for the METIS Cold Chopper (MCC). The MCC is a 2D rotatable mirror in the optical path of the Mid-Infrared E-ELT Imager and Spectrograph (METIS) instrument [1]. It provides telescope beam chopping by rotating this internal mirror. The system has three degrees of freedom, two rotational and one parasitic translational movement in the direction of the mirror vertex. It has to satisfy stringent performance requirements while dealing with different noise sources, disturbances and constraints on the input signals