Robust H∞ control based on model-matching for track-following system of optical disk drive

The H_∞ model-matching algorithm is proposed for the robust servomotor tracking control of linear time-invariant single-input single-output uncertain system. This control method is verified by the servo system of the DVD-ROM drive to improve the drive performance and reduce the sensitivity of parameter variations, nonlinear effects and various disturbances. An algorithm based on Riccati equation, Lyapunov equation and H_∞ synthesis theory is used to design the robust feedback controller in the tracking control system. The H_∞ model matching control method is examined through computer simulation, and then tested in a real time microprocessor-controlled DVD-ROM drive system. Experimental results based on PC-based microcomputer implementation are presented to illustrate the improved response and robust performance.