The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dual- and multi-input single-output systems, and discusses an optimal filter design technique for the related loop-shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use the most suitable actuators for compensating disturbances with different spectral characteristics. Such a generalization is helpful, e.g., for modern dual-stage hard disk drives, where enhanced servo design is becoming more and more essential in the presence of vibration disturbances.

Issue Section:
Research Papers
Keywords:
Multi-input single-output systems, dual-stage hard disk drives, disturbance observer, audio vibration, optimal filter design
Topics:
Actuators, Design, Filters, Stability, Vibration, Disks, Servomechanisms, Theorems (Mathematics)

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