Patent ID: 8061226

Claim:
A device for use with a gyroscopic stabilizer for use in an assembly that is moveably connected to a vehicle, the gyroscopic stabilizer having a gyroscope, a skew motor, and a skew motor velocity servo-control system, the gyroscopic stabilizer being operable to control a skew of the assembly based on a torque signal to maintain the assembly in an intended position, the skew motor velocity servo-control system being operable to control the skew motor, the skew motor being operable to move the gyroscope, the gyroscope being operable to provide the torque signal, said device comprising: an assembly position determining system operable to generate an assembly position signal based on one of a position of the assembly, a position of the gyroscopic stabilizer, a position of the gyroscope, a position of the skew motor and a position of the skew motor velocity servo-control system; a detector operable to detect a skew of one of the assembly, the gyroscopic stabilizer, the gyroscope, the skew motor and the skew motor velocity servo-control system and to generate a skew signal; a state estimator operable to provide an error signal based on the skew signal; and an output portion operable to provide an output signal to the gyroscopic stabilizer, wherein the output signal is based on the assembly position signal and the error signal.