Dual stage actuator modeling and control in a CD-ROM drive

In a CD-ROM drive, track seeking and following are facilitated by a dual stage actuator consisting of a sledge and a radial actuator. This paper presents an H/sub /spl infin// controller based on the performance requirement and the modeling uncertainties of the two actuators. Stability and performance robustness are achieved. Tracking error is reduced to 0.01 /spl mu/m (1.6 /spl mu/m track width in present CD-ROM).