By Topic

Internal model control (IMC) approach for designing disk drive servo-controller

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
T. H. Lee ; Magnetics Technol. Center, Nat. Univ. of Singapore, Singapore ; T. S. Low ; A. Al-Mamun ; C. H. Tan

This paper presents a design procedure for disk drive servomechanism using an internal model control (IMC) structure. A typical disk drive actuator can be modeled as second order dynamics for low frequencies. However the response at higher frequencies shows resonant behavior which is difficult to model. We discuss the use of IMC structure for designing servo-controllers for disk drives. In this method, a second order nominal model of the plant is used to design an H 2-optimal controller to attain minimum integral-error-square (ISE) performance. Then to maintain robust stability at higher frequencies, sufficient roll-off at such frequencies is provided by an H optimization procedure. Here, the H2-optimal control is augmented by a low pass filter with sufficient high-frequency roll-off to ensure robust stability and robust performance. A multiplicative uncertainty bound is defined using the data of the disk drive servo plant's frequency response and the response of the nominal model, and this is then used to decide robust stability and robust performance bounds. Tuning of only one parameter of the IMC filter makes this design method easy and convenient. Simulation results for the designed controller are presented

Published in:

IEEE Transactions on Industrial Electronics  (Volume:42 ,  Issue: 3 )