DocumentCode :
425481
Title :
Adaptive-Q with LQG stabilizing feedback and real time computation for disk drive servo control
Author :
Krishnamoorthy, K. ; Tsao, Tsu-Chin
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Los Angeles, CA, USA
Volume :
2
fYear :
2004
fDate :
June 30 2004-July 2 2004
Firstpage :
1171
Abstract :
A method of stabilizing feedback control, known as adaptive-Q control is applied to a LQG disk drive control system to improve its disturbance rejection property. This approach follows the well known result that all stabilizing controllers for a plant can be synthesized by conveniently parametrized augmentations to a nominal controller. The augmentation is parametrized by an arbitrary stable filter Q which is adapted online. The Q filter is restricted to a FIR stable filter which minimizes the H/sub 2 /norm of the transfer function from the disturbance to the track following error. Simulations and experimental results show a 15% improvement in the achievable TMR (track misregistration). The Q filter is adapted using a recursive least squares numerically stable adaptive array algorithm. Two algorithms based on inverse QR factorization are considered for implementation. The computation issues involved in updating the Q filter every servo cycle are discussed.
Keywords :
FIR filters; adaptive control; adaptive filters; control system synthesis; disc drives; feedback; filtering theory; least squares approximations; linear quadratic Gaussian control; minimisation; numerical stability; recursive estimation; servomechanisms; transfer functions; FIR stable filter; LQG disk drive control system; Q filter; adaptive Q control; adaptive array algorithm; arbitrary stable filter; disturbance rejection property; inverse QR factorization; minimization; numerically stable algorithm; real time computation; recursive least squares algorithm; servo control system; servo cycle; stabilizing controller synthesis; stabilizing feedback control; track following error; track misregistration; transfer function;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
ISSN :
0743-1619
Print_ISBN :
0-7803-8335-4
Type :
conf
Filename :
1386731
Link To Document :
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