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Settling Control of the Triple-Stage Hard Disk Drives Using Robust Output Feedback Model Predictive Control

[+] Author Affiliations
Huy Nguyen, Omid Bagherieh, Roberto Horowitz

University of California, Berkeley, CA

Paper No. DSCC2016-9831, pp. V002T18A006; 8 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


Track settling control for a hard disk drive with three actuators has been considered. The objective is to settle the read/write head on a specific track by following the minimum jerk trajectory. Robust output feedback model predictive control methodology has been utilized for the control design which can satisfy actuator constraints in the presence of noises and disturbances in the system. The controller is designed based on a low order model of the system and has been applied to a higher order plant in order to consider the model mismatch at high frequencies. Since the settling control generally requires a relatively low frequency control input, simulation result shows that the head can be settled on the desired track with 10 percent of track pitch accuracy while satisfying actuator constraints.

Copyright © 2016 by ASME



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