Optimization of control by hardbody wave gyroscope

This work is about problems of identification of hardbody wave gyroscope (HWG) parameters, which appear because of intrinsical wastage and of roughness of instrument. There are eleven parameters. The algorithms of identification of these parameters are developed. The procedures of control by HWG are described also, which compensate the intrinsical wastage and of roughness of HWG. These controls are nonanticipating.