Multi-rate short track-seeking control of hard disk drives for computation saving

This paper proposes a design method for short track-seeking control based on one-degree-of-freedom (ODOF) control and initial value compensation (IVC). IVC utilizes non-zero initial values of the feedback controller to improve the step reference response of the ODOF tracking control system. This makes feedforward control unnecessary to shape the transient response of short track-seeking. As a result, the amount of computation during short track-seeking may be kept minimal. The proposed design method minimizes tracking errors in multi-rate control frame work for a step reference input taking into account the inter-sampling behavior. The effectiveness of the proposed method is shown by simulations.