This paper proposes controller design methods, specially for track-following control of the magnetic read/write head in a hard disk drive (HDD). The servo system to be considered is a general dual-stage multisensing system, which encompasses most of the track-following configurations encountered in the HDD industry, including the traditional single-stage system. For the general system, a robust track-following problem is formulated as a time-varying version of the robust synthesis problem. Both dynamic and real parametric uncertainties, which are typical model uncertainties in track-following control, are taken into account in the formulation. Three optimal robust controller design techniques with different robustness guarantees are applied to solve the synthesis problem. These are mixed , mixed , and robust syntheses. Advantages and disadvantages of each method are presented. Multirate control, which is inherent to control problems in HDDs, is obtained by reducing multirate problems into linear time-invariant ones, for which there are many useful theories and algorithms available. Most of the techniques proposed in this paper heavily rely on efficient numerical tools for solving linear matrix inequalities.
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e-mail: nagamune@mech.ubc.ca
e-mail: horowitz@berkeley.edu
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March 2010
Research Papers
Robust Control Synthesis Techniques for Multirate and Multisensing Track-Following Servo Systems in Hard Disk Drives
Ryozo Nagamune,
Ryozo Nagamune
Department of Mechanical Engineering,
e-mail: nagamune@mech.ubc.ca
University of British Columbia
, Vancouver, BC, V6T 1Z4, Canada
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Roberto Horowitz
Roberto Horowitz
Department of Mechanical Engineering,
e-mail: horowitz@berkeley.edu
University of California
, Berkeley, CA 94720-1740
Search for other works by this author on:
Ryozo Nagamune
Department of Mechanical Engineering,
University of British Columbia
, Vancouver, BC, V6T 1Z4, Canadae-mail: nagamune@mech.ubc.ca
Xinghui Huang
Roberto Horowitz
Department of Mechanical Engineering,
University of California
, Berkeley, CA 94720-1740e-mail: horowitz@berkeley.edu
J. Dyn. Sys., Meas., Control. Mar 2010, 132(2): 021005 (10 pages)
Published Online: February 2, 2010
Article history
Received:
September 28, 2005
Revised:
June 30, 2009
Online:
February 2, 2010
Published:
February 2, 2010
Citation
Nagamune, R., Huang, X., and Horowitz, R. (February 2, 2010). "Robust Control Synthesis Techniques for Multirate and Multisensing Track-Following Servo Systems in Hard Disk Drives." ASME. J. Dyn. Sys., Meas., Control. March 2010; 132(2): 021005. https://doi.org/10.1115/1.4000835
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