Reference signal shaping for time-optimal track-seeking in hard disk drives

An algorithm for computing time-optimal reference signals for track seeking in hard disk drives is presented. A discrete-time model of the servo loop in a hard disk drive is identified using a step-based realization algorithm. Based on the identified closed-loop model, time-optimal track seeking profiles are computed by means of convex optimization techniques. Constraints on the output and on the actuator control signal are taken into account. The reference signals are implemented in an experimental hard disk drive set-up.