Intersample ripple-free multirate control with application to a hard disk drive servo

This paper discusses the intersample ripple problem in multirate control design. Supplementations and corrections have been made to the multirate control scheme proposed in . Moreover, the proposed method is applied to a 5.25-in hard disk drive servo system. The experimental results show that the proposed method can handle the intersample ripples existing in the conventional design very well and that the new multirate control design demands a much smaller control input profile than the conventional design.