Settling Control of the Triple-Stage Hard Disk Drives Using Robust Output Feedback Model Predictive Control

Track settling control for a hard disk drive with three actuators has been considered. The objective is to settle the read/write head on a specific track by following the minimum jerk trajectory. Robust output feedback model predictive control methodology has been utilized for the control design which can satisfy actuator constraints in the presence of noises and disturbances in the system. The controller is designed based on a low order model of the system and has been applied to a higher order plant in order to consider the model mismatch at high frequencies. Since the settling control generally requires a relatively low frequency control input, simulation result shows that the head can be settled on the desired track with 10 percent of track pitch accuracy while satisfying actuator constraints.