, [15] derived an H ∞ control strat

, [15] derived an H ∞ control strategy based on Lyapunov function to weaken the influence of various external disturbances in the expected region. On the other hand, H ∞ control technology has been combined with adaptive control method to achieve ideal attenuation of disturbance caused by parameter uncertainty and external disturbance in MEMS gyroscope,for example, Mehran Rahmani et al, [16] proposed a new composite fractional order integral terminal SMC and proportional differential control (PD) for the control of MEMS gyroscopes; The fractional integral terminal sliding mode surface is used to improve the robustness of the traditional integral terminal SMC, and the PD controller is used to eliminate the chattering phenomenon;