Higher order modeling of hysteresis in disk drive actuators

This paper derives a linear n-th order hysteresis model using a displacement domain approach and the concept of stability of poles for a forward and backward integration in displacement. The classic Dahl model of hysteresis is the basis for this model. The derivation proceeds from a Laplace Transform with respect to displacement to a state-space model in which the coef#cients of the system matrix depend on the sign of dx to indicate the direction of motion. Simulations of the second order model show the overshoot and undershoot features observed in data from actual experiments as well as points for further development.