Design of a probabilistic robust track-following controller for hard disk drive servo systems

摘要

This paper addresses the design of robust track-following dynamic output feedback controller for hard disk drives (HDDs) in face of parameter uncertainties which can enter into problem description in a possibly non-linear way. The design is performed in a probabilistic framework where the uncertain parameters are treated as random variables and the design specification is met with a given probability level. In particular, a sequential algorithm based on gradient iteration is employed to find a probabilistic robust feasible solution to the formulated problem. The design procedure is computationally tractable and its computational complexity does not depend on the number of uncertain parameters. Our case study allows natural frequency and damping ratio to vary within 8% and 10% from their nominal values for rigid body and all resonance modes. The designed controller achieves robustness in the presence of these uncertainties. Furthermore, the designed controller is implemented in real time on a commercial HDD.