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A method to generate an optimal seek trajectory for a hard disk drive using an adaptive filtering technique is presented in this paper. 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 finite-impulse-response (FIR) filter. The resulting performance is demonstrated by both benchmark simulations and experiments using a hard disk drive.
Date of Publication: Oct. 2008