Skip to Main Content
The major disturbances in self-servo track writing are identified and modeled. Based on the disturbance models, an H2 controller together with a feedforward compensator is designed via linear matrix inequality approach to minimize the propagation tracking error from one track to the next. Furthermore, the error propagation containment effectiveness of the optimal H2 control is compared with that of proportional-integral-derivative (PID) and proportional-derivative (PD) feedback controls with the feedforward compensators. Our results show that the propagation tracking error is improved by 27% with the H2 control compared with that by PID control.