method for implementing a linear discrete zeitzustandsraum - servosteuersystems in a digital festkomma - digital signal processor in a disk drive

摘要

A method of implementing a model-based servo controller (170, 174, 190) in a digital signal processor is a disc drive (110) includes obtaining matrices for a discrete-time state-space realization of the servo controller (170, 174, 190). Controller states of the controller (170, 174, 190) are scaled to reduce a worst case bound on the controller states. The controller states are transformed to a desired format which reduces a number of required mathematical operations. Further, the matrices are converted to fixed point format.