NDLI: An iterative learning controller for reduction of repeatable runout in hard disk drives

Content Provider	IEEE Xplore Digital Library
Author	Graham, M.R. de Callafon, R.A. Shrinkle, L.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Univ. of California San Diego, La Jolla, CA (Graham, M.R.; de Callafon, R.A.)
Abstract	In this study we consider the iterative learning control (ILC) framework to design a reference signal that reduces the periodic component of disturbances in a feedback measurement containing both repeatable and non-repeatable components. Reduction of periodic disturbances is useful in alleviating undesirable repeatable tracking errors in applications such as the two-stage servo track writing process for disk drives. A general problem description is given for a linear discrete time system and convergence robustness results for the learning system are derived. A learning filter is designed with the use of an FIR model approximation for the inverse of the closed-loop sensitivity for fast nominal convergence while robustness to modeling errors and non-repeatable disturbances is achieved through additional filtering. The ILC algorithm is applied to a disk drive system where experimental results demonstrate the effectiveness of the design method in reducing periodic measurement disturbances
Sponsorship	American Automatic Control Council IFAC
File Size	450875
File Format	PDF
ISBN	1424402093
e-ISBN	1424402107
DOI	10.1109/ACC.2006.1655418
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Hard disks Finite impulse response filter Disk drives Convergence Robustness Signal design Feedback Servomechanisms Writing Discrete time systems
Content Type	Text
Resource Type	Article

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