|Hadi Haji eghrari|
Dynamic Adaptive Robust Control of a Dual-Stage HDD Servo System
This dissertation focuses on the high performance adaptive robust control of linear systems in the presence of parametric uncertainties and uncertain nonlinearities (e.g., disturbances) and its application to the control of high precision mechanical systems like a Dual-Stage Hard Disk Drive servo systems. Here, an alternative algorithm for the synthesis of dynamical backstepping design procedure has been proposed to develop a new scheme for Dynamic ARC. This new strategy is more engaged with the dynamic of the system, and thus can perform more effectively than the static one which is based on the traditional backstepping design. The dynamic models of the VCM and PZT actuators, which are used in the read/write head of hard disk drive, are discussed, and a simple, but accurate, model is represented for each of the actuators. These two actuators are used in a dual stage servo control strategy to serve a pretty accurate performance. Beeing high order, apparently, these models are not so proper for backstepping strategy; then, they are reduced to lower order ones using proper reduction methods. Simulations are run for embedded control system of dual stage HDD. Results show the effectiveness of this structure in terms of transient performance, tracking errors, and disturbance rejection, in both track seeking and track following modes.
|2009||M.Sc.||Dynamical Systems Analysis and Control|