Two degree-of-freedom control with adaptive robust control for hard disk servo systems

Author

Yi, Li ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

fYear

1998

fDate

29 Jun-1 Jul 1998

Firstpage

604

Lastpage

610

Abstract

A two-degree-of freedom (2DOF) control structure is proposed for read/write head servo systems of hard disk drives (HDD). This structure may be applied to both track seeking and track following, and it makes mode switches found in conventional HDD servo systems unnecessary. Two possible approaches are studied, emphasizing the rejection of disturbances and the effects of modeling uncertainties. One approach uses a disturbance observer (DOB), and the other uses adaptive robust control (ARC). Simulation results show that the 2DOF structure with ARC provides better performance than either the conventional servo system with mode switches or the 2DOF structure with DOB

Keywords

adaptive control; disc drives; feedback; hard discs; observers; position control; robust control; servomechanisms; adaptive robust control; disturbance observer; disturbance rejection; hard disk servo systems; modeling uncertainties; read/write head servo systems; track following; track seeking; two degree-of-freedom control; Adaptive control; Control systems; Hard disks; Mechanical engineering; Programmable control; Robust control; Servomechanisms; Switches; Target tracking; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on

Conference_Location

Coimbra

Print_ISBN

0-7803-4484-7

Type

conf

DOI

10.1109/AMC.1998.743605

Filename

743605