Practical implementation of a novel anti-windup scheme in a HDD-dual-stage servo-system

Two novel discrete anti-windup (AW) techniques are applied to a dual-stage actuator of an experimental hard disk drive system. The techniques, one low order, the other full order, employ convex l₂-performance constraints in combination with linear-matrix-inequality-optimization methods. It is shown that the AW compensators can improve the performance of the nominal dual-stage servo-system when the secondary actuator control signal saturates at its allowable design limits. Also, stability is achieved despite saturation of both the secondary actuator and the voice-coil-motor actuator. Practical results show that the performance of each AW compensator is superior to another well-known ad-hoc AW technique, the internal model control AW scheme. The main contribution of the paper is the application of theoretically rigorous AW methods to an industrially relevant servo system.