Adaptive robust controller design for a dual-stage hard disk drive

In this paper, adaptive robust controllers are proposed for dual-stage hard disk drives. An improved desired compensation ARC (IDCARC) scheme is proposed in this paper for both actuators of the system, in which the traditional ARC is powered by a dynamic adaptive term. Moreover, a simulation study of these controllers are presented, in which the controllers designed based on simple models for the subsystem are implemented on a more comprehensive, experimentally verified models of the system. Simulation result verifies the effectiveness of the IDCARC method in providing the required tracking, in presence of unstructured uncertainty for the models.