Analysis and design of servomechanism and its application to disk drives

This paper presents a new methodology of servomechanism analysis and design using admissible reference velocity profiles. We define an admissible reference velocity profile and its conditions. Control laws are proposed for seek and settle servo using the admissible profiles. A linear extension to the profile is introduced in the design of the settle servo for smooth settling. Global asymptotic stability of the target point with the servo system is also shown. Simple and systematic design procedures are proposed to determine the servo design parameters. The usefulness of the proposed technique is demonstrated through an application to a disk drive.