The invention discloses a micro
gyroscope robust self-
adaptive control method, and the method is applied to a controller comprising a micro
gyroscope. The method includes the following steps of establishing an ideal dynamics model, establishing a dimensionless dynamics model of the micro
gyroscope, designing a sliding mode function and making the derivative of the sliding mode function to time be zero to acquire a control law, adding a feedback item and a robust item to the control law, wherein the control law with feedback item and the robust item is used as a robust self-
adaptive control law, controlling the micro gyroscope based on the
Lyapunov function method, and designing an self-adaptive law. According to the micro gyroscope robust self-
adaptive control method, the feedback item is added to the control law, so that micro gyroscope two axle vibration trajectory tracking and parameter
estimation speed is greatly improved, and
vibration amplitude is reduced; the robust item is added to the control law, so that external interference and parameter uncertainty are removed, and robustness and dynamic characteristics of a
system are improved; the self-adaptive law is designed based on the
Lyapunov function method, so that globally asymptotic stability of the whole
system is guaranteed, and reliability of the
system and robustness to parameter change are improved.