Lab 4: 2-DOF Attitude LQG Design

Block Diagram of Linear Quadratic Gaussian (LQG) Controller
In this lab, students will learn about the applications of an Inertial Measurement Unit (IMU), which is usually a combination of accelerometers and a gyroscope with coincident axes, and its drawbacks. Students will also be introduced to the Linear Quadratic Gaussian controller, a combination of an LQR to find the optimal control gains and a Kalman filter to estimate the state in a noisy system. Such a combination is common in various aerospace systems. In this lab, students will apply the concepts of the Linear Quadratic Gaussian controller to the 2-DOF Aero configuration.
by Quanser Inc.



  • 2-DOF Attitude LQG Design Concept Review
  • 2-DOF Attitude LQG Design Lab Manual
  • 2-DOF Attitude LQG Design LabVIEW Code


  • Understanding of Controls
  • LabVIEW Experience

Related Resources


These labs prepare students with prerequisite skills.


Provides reconfigurable I/O that allows you to teach and implement multiple design concepts with one device.


LabVIEW is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights.

Quanser AERO

The Quanser AERO is a fully integrated lab experiment consisting of two propellers, powered by DC motors, designed for teaching mechatronics and controls concepts at the undergraduate level, as well as for advanced aerospace research applications.

Required Software

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  • myRIO Software Bundle (2013 or later)
    • LabVIEW (Requires license)
    • LabVIEW Real-Time Module (Requires license)
    • LabVIEW myRIO Toolkit
    • LabVIEW Quanser Rapid Control Prototyping (QRCP) Toolkit
    • LabVIEW Control Design and Simulation Module
    • LabVIEW MathScript RT Module (only used in certain VIs)

Required Hardware

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