As the storage capacity of hard disk drives (HDDs) increases dramatically, the demand for positioning control accuracy of a read/write head of HDD is becoming more stringent. This paper presents a tuning methodology for fixed-structure controllers using the optimization. The tuning of a PID (Proportional plus Integral plus Derivative) controller for head positioning of an HDD is presented as an application example. The optimization problem of fixed-structure controllers can be locally solved by using the transformation into an synthesis problem of static output feedback control. Simulation and experimental results show the effectiveness of the proposed approach as a fine tuning method to improve controller performance without requiring profound knowledge and experiences in manual loop-shaping.
Tuning of a Hard Disk Drive Servo Controller Using Fixed-Structure Controller Optimization
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received by the Dynamics Systems and Control Division June 9, 2000. Associate Editor: Y. Chiat.
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Ibaraki , S., and Tomizuka , M. (June 9, 2000). "Tuning of a Hard Disk Drive Servo Controller Using Fixed-Structure Controller Optimization ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 544–549. https://doi.org/10.1115/1.1386391
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