Disturbance rejection is becoming more and more important as optical disk players are being utilized in more applications. The paper considers the design of a tracking servo controller for a CD player using the disturbance observer (DOB) theory. By adding a DOB to the conventional PID controller, the tracking performance is dramatically improved in the presence of sinusoidal vibrations or a shock disturbance. The effectiveness of the DOB is verified by experimentation using an actual CD player as well as by computer simulations
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