Tilt Angle Estimation

Tilt angle represents an angular deviation with respect to the vertical direction. Controlling this angle is important in many robots and some academic control system prototypes. Measuring tilt angle is not so easy as measuring angular position in an electric motor, for instance. In this problem, shaft of an encoder is fixed to rotor axis whereas the encoder body is fixed to another body which remains at rest with respect to rotor shaft. Such a solution is not possible when measuring tilt angle in an airplane in flight, for instance, and a different solution must be employed.