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Title: Track-following control of four-bar structured hdd via parameter-dependent low-frequency precompensation
Authors: Guo, Y.
Gao, T.
Xie, L.
Du, C.
Ong, C.J. 
Keywords: Four-bar structure
hard disk drive
track-following control
Issue Date: 2013
Citation: Guo, Y., Gao, T., Xie, L., Du, C., Ong, C.J. (2013). Track-following control of four-bar structured hdd via parameter-dependent low-frequency precompensation. IEEE Transactions on Magnetics 49 (6) : 2731-2737. ScholarBank@NUS Repository.
Abstract: This paper considers track-following control of four-bar structured hard disk drive (HDD) systems. Compared with the traditional single-arm HDD, the four-bar structure potentially leads to higher achievable closed-loop bandwidth, but also brings challenges in control design due to nonlinearity. In track-following control design, exact linearization is impossible in practice due to mechanic resonances and measurement constraints. In this paper, instead of exact linearization, we propose a kind of prefilter to compensate for the low-frequency nonlinearities so that the compensated system has the same linear approximation at different track positions subjected to different high-frequency resonances. With this prefilter, many existing track-following control methods can be applied to the compensated plant. In this paper, H∞ loop shaping is used and simulation results show that the resulting controller preserves similar track-following performance at different track positions. © 1965-2012 IEEE.
Source Title: IEEE Transactions on Magnetics
ISSN: 00189464
DOI: 10.1109/TMAG.2013.2256109
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