A controller switching design approach via parameterization for control of hard disk drive dual-stage actuators

Control of a dual-stage actuator in hard disk drives presents a challenge to best distribute control effort among two actuators, avoid saturation and satisfy time-varying control objectives. This paper presents a switched controller design approach to address these issues. It is shown that an output regulating controller parameterization facilitates controller switching with guarantees of stability, output regulation and minimum convergence rate. Simulations show the efficacy of the proposed controller approach.