Title :
Digital redesign and multi-rate control for motion control-a general approach and application to hard disk drive servo system
Author :
Gu, Yuping ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
This paper is concerned with the digital redesign of continuous time controllers for motion control. Multirate digital control with a high order hold is utilized to better approximate the continuous time controller when the measurement sampling rate is relatively low. The proposed approach is illustrated for track following control of a hard disk drive (HDD) servo system. The HDD controller is first designed in the continuous time domain based on LQG/LTR method. It is redesigned as a single rate digital controller as well as multirate digital controllers with different holds. The redesigned controllers are evaluated by simulation, and the advantage of multirate control is demonstrated.
Keywords :
control system synthesis; digital control; disc drives; hard discs; linear quadratic Gaussian control; multivariable control systems; position control; servomechanisms; HDD servo system; LQG/LTR method; digital motion control redesign; hard disk drive servo system; multirate digital control; single rate digital controller; track following control;
Conference_Titel :
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location :
Nagoya, Japan
Print_ISBN :
0-7803-5976-3
DOI :
10.1109/AMC.2000.862867