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H2 Guaranteed Cost Control Design and Implementation for Dual-Stage Hard Disk Drive Track-Following Servos

[+] Author Affiliations
Jianbin Nie, Richard Conway, Roberto Horowitz

University of California, Berkeley, Berkeley, CA

Paper No. DSCC2011-6095, pp. 835-842; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


This paper discusses the design and implementation of H2 guaranteed cost control for dual-stage hard disk drive track-following servo systems. The proposed approach is based on H2 guaranteed cost analysis, in which an upper bound on the worst-case H2 performance of a discrete-time system with gain-bounded unstructured uncertainty is determined via several Riccati equations. Subsequently, the output feedback H2 guaranteed cost control synthesis algorithm is presented by exploiting Riccati equation structure to reduce the number and complexity of the semi-definite programs (SDPs) that need to be solved. The presented control synthesis methodology is then applied to a hard disk drive with a PZT-actuated suspension. Experimental results on the actual disk drive validate our control design.

Copyright © 2011 by ASME
Topics: Design , Disks



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