Reference Signal Shaping for Closed-Loop Systems With Application to Seeking in Hard Disk Drives

Author

Boettcher, Uwe ; Fetzer, Dirk ; Li, Hui ; De Callafon, Raymond A. ; Talke, Frank E.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Univ. of California San Diego, La Jolla, CA, USA

Volume

20

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

335

Lastpage

345

Abstract

An input shaping algorithm based on convex optimization techniques is presented for the design of reference and feedforward signals in a closed-loop discrete-time linear time-invariant system. The proposed algorithm allows closed-loop signals to be subjected to linear constraints on amplitude and rate of change. As an illustrative example the seeking process in a hard disk drive is investigated. The closed-loop system response to both shaped and non-shaped inputs are compared. The computational scheme was experimentally tested on a modified hard disk drive.

Keywords

closed loop systems; disc drives; discrete time systems; feedforward; linear systems; optimisation; closed loop discrete time linear time invariant system; closed loop systems; convex optimization techniques; feedforward signals; hard disk drives; input shaping algorithm; reference signal shaping; seeking application; Convex functions; Hard disks; Linear matrix inequalities; Optimization; Servomotors; Vectors; Closed-loop systems; convex optimization; linear programming; matrix algebra; minimum-time control; multi-input/multi-output (MIMO) systems; quadratic programming; saturation control; set-point control; trajectory planning;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2011.2175733

Filename

6104199