Optimal seek trajectory generation for a hard disk drive using adaptive filtering

A method to generate an optimal seek trajectory for a hard disk drive using an adaptive filtering technique is presented. The method minimizes seek-settling vibrations induced by the actuator vibration modes while maintaining the maximum control input. The cost function to minimize is a sum of square error of the position error signal at settling. Since the error equation is quadratic, a simple least-square algorithm can generate an optimal trajectory and the global optimum is guaranteed. The seek time overhead compared to bang-bang control is characterized by the order of the resulting FIR filter, which is dependent on target specifications, actuator characteristics, and the feedback controller. The method is also applicable to generation of a seek trajectory that is robust against the plant parameter variations. Reduction of the filter complexity is also considered by introducing an IIR filter