Design of a servomechanism with sliding mode for a disk drive actuator

Considers a servomechanism design with sliding mode for disk drives. The proposed servomechanism consists of suboptimal time control for seek, and sliding mode control for settling and tracking. For fast seek, suboptimal time control with feedforward is used. For settling and tracking, observer based sliding mode control with a fixed linear switching hyperplane is designed in the discrete time domain. Through the results of simulation and experiment, it is shown that the proposed servomechanism is effective to reduce velocity tracking error during settling