Skip to Main Content
Proximate time-optimal servomechanism (PTOS) has been widely used as a point-to-point motion control algorithm in many control systems, especially in hard disk drives, because of its simplicity and good performance. A great deal of research for improving PTOS has been reported; however, most of it is complex or needs a time-consuming tuning process. Damping scheduling PTOS (DSPTOS), which maintained the simplicity of PTOS and showed faster settling in long strokes by scheduling a closed-loop damping coefficient, was proposed previously. In this paper, we propose a modified DSPTOS which can schedule a closed-loop damping coefficient not only in long strokes, but also in short strokes. The proposed algorithm improves seek and settling performances significantly in short strokes. The effectiveness of the proposed algorithm is verified through simulations and real-time experiments. Consequently, we achieved over a 25% settling time improvement for a short stroke (10 tracks).