Data-Driven Track Following Control for Dual Stage-Actuator Hard Disk Drives

TL;DR

This paper introduces a frequency domain data-driven feedback control method for dual-stage actuator hard disk drives, enhancing robustness and disturbance rejection by directly using frequency response measurements instead of plant models.

Contribution

It proposes a novel data-driven control design approach that improves robustness and disturbance rejection for HDDs with dual-stage actuators, avoiding model mismatch issues.

Findings

Improved robustness over traditional controllers.

Effective disturbance rejection through H2 norm minimization.

Ensured closed-loop stability with H infinity norm constraints.

Abstract

In this paper, we present a frequency domain data-driven feedback control design methodology for the design of tracking controllers for hard disk drives with two-stage actuator as a part of the open invited track 'Benchmark Problem on Control System Design of Hard Disk Drive with a Dual-Stage Actuator' in the IFAC World Congress 2023 (Yokohoma, Japan). The benchmark models are Compared to the traditional controller design, we improve robustness and avoid model mismatch by using multiple frequency response plant measurements directly instead of plant models. Disturbance rejection and corresponding error minimization is posed as an H2 norm minimization problem with H infinity and H2 norm constraints. H infinity norm constraints are used to shape the closed loop transfer functions and ensure closed loop stability and H2 norm constraints are used to constrain and/or minimize the variance of relevant.