Track-seeking control of four-bar structured HDD through IDA-PBC based switching control

Four-bar structured hard disk drive (HDD) potentially leads to higher achievable closed-loop bandwidth compared to the traditional single-arm structure, but also brings challenges in control design due to nonlinearity. This paper studies track-seeking control of four-bar structured HDD. First, interconnection and damping assignment passivity-based control (IDA-PBC) method is used to design a preliminary controller. Second, in order to improve the transient performance, a switching law is proposed to switch between two IDA-PBC controllers which are with small and large dampings respectively. Simulation results show that the proposed IDA-PBC based switching control can overcome the limitation of a single IDA-PBC controller and achieves better transient performance.