Advanced Motion Control: An Industrial Perspective

摘要

Industrial feedback motion controllers are tuned using manual loopshaping, according to certain design rules. This controller tuning serves as a benchmark for robust control research as applied to optical and magnetic disk drive storage systems. The design and implementation of robust controllers Fo the focus servo of a compact disk and the Tracking servo of a hard disk mechanism is investi- Gated. The design objective is to achieve good track- Following performance in the presence of disk dis- turbances.