This paper presents a novel robust time-optimal algorithm for servo systems with bias disturbance. The proposed method specifically minimizes the settling time of the servo positioning system by applying a constant feed-forward signal at the initial time. Unlike many other time-optimal control algorithms, additional computation is not needed once the constant optimal control signal is applied. Since the control is achieved through a constant change in the system's initial condition, the overall stability of the original control system is not affected by the addition of the time-optimal controller. The proposed control scheme has been implemented on a 3.5" disk drive servo system with a rotary actuator. Significant improvement in seeking time has been demonstrated by both simulation and experiments.
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