Tuning of a Hard Disk Drive Servo Controller Using Fixed-structure H-infinity Controller Optimization
Soichi Ibaraki (Kyoto University)
Masayoshi Tomizuka (University of California at Berkeley)
Abstract
As the storage capacity of hard disk drives (HDDs) increases dramatically, the demand for positioning control accuracy of a read/write head of HDD is becoming more stringent. This paper presents a tuning methodology for fixed-structure controllers using the H-infinity optimization. The tuning of a PID (Proportional plus Integral plus Derivative) controller for head positioning of an HDD is presented as an application example. The H-infinity optimization problem of fixed-structure controllers can be locally solved by using the transformation into an H-infinity synthesis problem of static output feedback control. Simulation and experimental results show the effectiveness of the proposed approach as a fine tuning method to improve controller performance without requiring profound knowledge and experiences in manual loop-shaping.
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