Input-output dynamics of the JPL microgyroscope

This paper discusses the identification of multi-input/multi-output models of the Jet Propulsion Laboratory (JPL) micromachined vibratory rate sensor (JPL microgyro). The sensor dynamics are accurately identified in the neighborhood of lightly damped degrees of freedom. Interesting features of the gyro are reported, including the presence of right-half-plane zeros. The results indicate that a multichannel lattice filter is suitable for adaptive sensor identification using test inputs of short duration to excite the sensor dynamics.