Fixed order H∞ control design for dual-stage harddisk drives
Rotunno, M.; de Callafon, R.A.
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Volume 4, Issue , 2000 Page(s):3118 - 3119 vol.4
Digital Object Identifier 10.1109/CDC.2000.912175
Summary:Crucial to the increase in aerial densities of future hard disk
drives (HDD) is the increase of the number of tracks per inch. In order
to achieve very high track densities new high bandwidth and very
accurate servo systems will be necessary. One possible solution is the
use of dual-stage actuators, in which a high bandwidth and a highly
accurate micro-actuator (MA) is used in combination with a traditional
voice coil motor (VCM). In this case the nature of the servo controller
becomes multivariable since both the VCM and the MA have to be
controlled simultaneously. The design of servo controllers for track
following with dual-stage actuators has been an active area of research
in the last few years. Modern control methods were specifically
developed for multivariable systems and offer significant advantages
over classical control methods. On the down side, they usually lead to
controllers which are of order equal to or greater than the plant they
were designed for. The aim of the paper is to present a systematic
approach for the design of a fixed order servo controller and to
illustrate this design on a piezoelectric MA designed by Hutchinson
Technologies Inc. The complexity of the servo controller is limited to
address costs and implementation issues in a commercial HDD. The
systematic approach for such a low order servo controller design is
developed in the paper by utilizing H∞-optimization
with a choice of specific closed loop weighting functions and additional
constraints on the order of the controller
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