Aiming at the problem of non-linearity of driving mode automatic gain control（AGC） loop and the difficulty of controller design of micro-electro-mechanical system（MEMS） vibratory gyroscope

a method for linearizing the system at the equilibrium point and using classical frequency domain analysis to design the controller is proposed. An AGC model without multiplier is established by using the envelope transfer function.Simplified AGC loop model is further linearized at the equilibrium point by harmonic analysis. Controller is designed using the classical frequency domain analysis method of linear system. Simulation and experiments verify the correctness of the model linearization process and the effectiveness of the proposed controller design method.