Symbol	Nomenclature	Symbol	Nomenclature
${\mathit{K}}_{ideal}$	Ideal Stiffness matrix	${\mathit{\tau }}_0$	Feedback section output vector
$\theta$	Z axis rotation angle	$\mathit{\tau }$	Total drive signal matrix
$\mathit{q}$	Displacement vector	${\mathit{\tau }}_{\mathit{r}}$	Rotation elimination signal vector
$x$	Drive mode displacement	$m_p$	Gyroscope proof mass
$\mathrm{y}$	Sense mode displacement	$m_x$	Drive mode vibration mass
$\mathit{F}$	Feedback force matrix	$m_y$	Sense mode vibration mass
$F_x$	Drive mode feedback force	$Q_x$	Drive mode quality factor
$F_y$	Sense mode feedback force	$Q_y$	Sense mode quality factor
$\mathit{D}$	Damping matrix	${\gamma }_{\Omega }$	Angular rate integral coefficient
$\mathit{K}$	Stiffness matrix	${\gamma }_D$	Damping integral coefficient
$\mathit{R}$	Stiffness estimation error matrix	${\gamma }_R$	Stiffness error integral coefficient
$\mathit{\Omega }$	Angular rate matrix	${\gamma }_0$	Feedback gain
$\mathit{e}$	Displacement estimation error vector	$V$	Lyapunov function