Title :
Two degree-of-freedom control with adaptive robust control for hard disk servo systems
Author :
Yi, Li ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fDate :
29 Jun-1 Jul 1998
Abstract :
A two-degree-of freedom (2DOF) control structure is proposed for read/write head servo systems of hard disk drives (HDD). This structure may be applied to both track seeking and track following, and it makes mode switches found in conventional HDD servo systems unnecessary. Two possible approaches are studied, emphasizing the rejection of disturbances and the effects of modeling uncertainties. One approach uses a disturbance observer (DOB), and the other uses adaptive robust control (ARC). Simulation results show that the 2DOF structure with ARC provides better performance than either the conventional servo system with mode switches or the 2DOF structure with DOB
Keywords :
adaptive control; disc drives; feedback; hard discs; observers; position control; robust control; servomechanisms; adaptive robust control; disturbance observer; disturbance rejection; hard disk servo systems; modeling uncertainties; read/write head servo systems; track following; track seeking; two degree-of-freedom control; Adaptive control; Control systems; Hard disks; Mechanical engineering; Programmable control; Robust control; Servomechanisms; Switches; Target tracking; Uncertainty;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743605
