Considering that the high accuracy moment output of magnetically suspended control moment gyroscope (MSCMG) depends on high accuracy moment output of gimbal

high accuracy opto-electric encoder or resolver is desired for position control. To eliminate the noise produced by the difference calculation of position signal

an adaptive algorithm for angle-rate estimation with low-noise and changeable bandwidth is proposed. This paper analyses the stability of estimator first

then designs the adaptive algorithm of the proportion gain of forward channel adjusted real-time by using the least square method. The MATLAB is used for simulating the data got by experiments

which makes the fluctuation for stable speed reduce 88%. Then

experiments are carried out on MSCMG

while the estimator is added to feedback route of velocity loop

thereby the fluctuation for speed curve reduces 71.5% without influence of bandwidth.