Minimum power and minimum jerk position control and its applications in computer disk drives

Analytical and experimental results dealing with power optimal control strategies for the point-to-point slewing of motor-driven flexible structures which would result in zero residual vibration are presented. Two optimality criteria to uniquely define the control input are discussed. An algebraic synthesis technique is introduced for composing the finite-time point-to-point control waveform. Experiments are performed on a laboratory flexible beam and a small disk drive. The results show that the Laplace domain synthesis technique is very effective in eliminating residual vibration in point-to-point positioning operations