There is a category of applications where cantilevered servomechanisms mounted on
mobile platforms have to maintain very precise position in inertial space. These systems
often referred to as stabilised or line of sight systems have to maintain precise
orientation in inertial space in presence of linear and angular external disturbances.
Stabilised systems, in general, are designed as balanced systems such that the pivot or
centre of rotation coincides with the centre of gravity of the equipment. The research
presented in this thesis investigates a general case of stabilising an out-of-balance
mechanism; a balanced mechanism is a special case of these systems. The motivation
for the research is to remove the requirement for balanced mechanisms enabling
engineers to design more effective systems, both in terms of performance and costs, for
future needs... cont'd.
A Doctoral Thesis. Submitted in partial fulfillment of the requirements for the award of Doctor of Philosophy of Loughborough University.