Gain scheduled reference governor and its application to long seek control of hard disk drives

In this paper, we propose a gain scheduled reference governor for control of systems with constraints on the state and/or input variables. We use the reference governor with outer feedback constructed via model following control method. We apply this control scheme to design of long seek control of hard disk drives. To achieve short seek time for long seek distance problems, we consider gain scheduling with the reference governor; more precisely, we switch feedback gains according to the location of the state. Moreover, we examine the usefulness of the proposed method by applying it to benchmark problems of hard disk drive control.