An intersample ripple free multirate servo controller for disk drive actuators

An intersample ripple free multirate control design is presented. In this paper. The idea is to introduce a constraint in control parameters for the conventional multirate control design approach so that there would be no control chatter, and therefore a reduction of the output ripple. The method is applied to a hard disk drive actuator servo control system. Both simulation and experiment results show that fast response can be achieved and steady state intersample ripples in the plant output are eliminated.