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Title: Comprehensive modeling and robust nonlinear control of HDD servo systems
Keywords: Hard disk drives, Servo systems, Modeling, Robust control, Nonlinear control, Toolkit
Issue Date: 23-Jan-2006
Citation: CHENG GUOYANG (2006-01-23). Comprehensive modeling and robust nonlinear control of HDD servo systems. ScholarBank@NUS Repository.
Abstract: This thesis is dedicated to the methodology of servo system design for new generation hard disk drives (HDDs) characterized by smaller form factor and higher track density. We begin with a comprehensive modeling of the voice coil motor (VCM) in a microdrive, with a careful investigation of its inherent nonlinearities. A track following controller is then designed using the Robust and Perfect Tracking (RPT) control technology with integral enhancement and nonlinearity pre-compensation. Furthermore, we develop an enhanced Composite Nonlinear Feedback (CNF) control technique with a MATLAB toolkit to facilitate its design process, and successfully apply it to design a microdrive servo system which is capable of performing track following and short span track seeking in one shot, with fast and smooth settling and yet without steady state error. The enhanced CNF and RPT are further utilized in the design of a dual-stage servo system with an additional piezoelectric microactuator to provide faster and finer positioning. Both simulation and experimental results verify that our designs are effective. Our methodology and toolkit provide an integrated solution for HDD servo system design and can be readily applied to other servo problems as well.
Appears in Collections:Ph.D Theses (Open)

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