We tackle the problem of a servo system design for a conventionalhard disk drive with a single voice-coil-motor (VCM) actuator using theso-called robust and perfect tracking (RPT) approach. We first model thephysical system and then formulate it into a robust and perfect trackingproblem, in which a measurement feedback controller can be obtained toachieve a robust and perfect tracking for any step reference in thepresence of external disturbances and arbitrarily initial conditions.Some trade-offs are then made in order for the RPT controller to beimplementable using existing hardware setup. The implementation resultsof the RPT controller are compared with those of a PID controller. Theresults show that the servo system with our RPT controller has muchbetter performances than the PID one has. It has faster settling time,lower overshoots and higher accuracy
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