Title :
Robust time optimal controller design for hard disk drives
Author :
Kim, Bong Keun ; Chung, Wan Kyun ; Lee, Ha Seong ; Choi, Hyun-Taek ; Suh, Hang, II ; Chan, Yong Hoon
Author_Institution :
Robotics Lab., POSTECH, South Korea
fDate :
9/1/1999 12:00:00 AM
Abstract :
Robust time optimal control algorithm based on internal loop compensator is proposed. Internal loop compensator effectively isolates the hard disk system from the uncertain disturbances including modeling error, external disturbance, shock, and control torque saturation. We use the H∞ mixed sensitivity method for the optimization of internal loop compensator and proximate time optimal controller as a feedback controller to provide a time optimal property. The performance of the proposed controller is verified via simulation
Keywords :
H∞ control; compensation; disc drives; feedback; hard discs; robust control; time optimal control; torque control; H∞ mixed sensitivity method; control torque saturation; controller design; external disturbance; feedback controller; hard disk drives; internal loop compensator; modeling error; proximate time optimal controller; robust time optimal controller; shock; time optimal property; uncertain disturbances; Attenuation; Control systems; Hard disks; Noise measurement; Noise robustness; Optimal control; Optimization methods; Robust control; Target tracking; Transfer functions;
Journal_Title :
Magnetics, IEEE Transactions on
