Robust control of a compact disc player

The design of robust controllers for a compact disc mechanism is considered. Using μ synthesis, a controller has been designed for good track-following. The design problem involves time-domain constraints on signals and robustness requirements for norm-bounded structured plant uncertainty. It is shown that by using weighting functions in the μ framework this problem can be solved, but at the cost of many design iterations. The μ controller has been implemented in an experimental setup with a digitally controlled compact disc player