A predictive approach to discrete-time time-optimal servomechanism

Presents an approach to a discrete-time time-optimal servomechanism. Differently from existing approaches to discrete-time time-optimal control, we attempt to find the control law minimizing point-wise the distance between the one-step-ahead prediction of the system state and a given reference velocity trajectory. The performance of the proposed controller is shown to be mathematically well supported and, moreover, its practical significance is demonstrated through realistic simulation based on the head-positioning servo in a hard disk drive