Robust control applications to hard disk drives

磁性硬盘驱动器是当今广泛和不可缺少的存储介质。存储介质已广泛用于从膝上型计算机、移动的音频播放器、汽车导航到安全和通信系统的各种应用中。磁盘驱动器工业的当前目标是突破每平方英寸1兆兆比特的存储密度障碍，该障碍对传统的单级磁盘驱动器伺服施加了严格的性能规范。为了应对这一挑战，已经提出了几种双级驱动方案。然而，所有这些建议，导致多变量伺服系统，传统的标量设计技术变得不足以充分利用该系统的潜力。因此，必须提出适当的设计方法的双级多传感系统，其中最佳的，鲁棒的性能是追求在一个明确的和系统的方式。该建议是对这一需求的回应。所提出的工作旨在将鲁棒控制理论应用于双级多传感器系统的轨迹跟踪控制，并利用我们的控制器设计程序开发一个全面的用户友好的软件包。最终目标是发明一种通用的鲁棒伺服设计技术，适用于各种工程和科学领域的控制问题，所提出的设计方法将为工业伺服工程师提供一个指导原则，如何实现简单的控制机制，高质量的，因此，它有可能帮助工程师在伺服设计特定的磁盘驱动器产品。全面、高效、用户友好的软件包将大大简化复杂的设计过程。基于硬件配置和设计规范，工程师将可以自由地从各个方面比较这些方法，并最终选择适合其设计需求的方法。航空航天工程、医学、生物学和经济学等领域的其他应用也将受益于这项研究的成果，因为这些领域的许多问题在数学上与磁盘驱动器伺服系统中的问题相似。

Magnetic hard disk drives are widespread and indispensable storage media nowadays. The storage media has been widely used in various applications ranging from lap-top computers, mobile audio players, car navigation, to security and communication systems. A current goal of the magnetic disk drive industry is to break the 1 tera-bit per square inch storage density barrier, which imposes a stringent performance specification for the conventional single-stage disk drive servo. To meet the challenge, several dual-stage actuation schemes have been proposed. All these proposals, however, lead to a multivariable servo system for which conventional scalar design techniques become inadequate to fully exploit the potential of that system. Thus, it is imperative to come up with appropriate design methodologies for the dual-stage multi-sensing system, in which optimal, robust performance is pursued in an explicit and systematic way. This proposal is a response to this need.The proposed work aims to apply robust control theory to track-following control for dual-stage multi-sensing systems and to develop a comprehensive user-friendly software package utilizing our controller design procedures. The ultimate goal is to invent a universal robust servo design technique applicable to control problems in various fields of engineering and science.The proposed design methodologies will provide industrial servo engineers with a guideline principle on how to realize simple control mechanisms with high quality and thus, it has a potential to help engineers in the servo design for specific disk drive products. The comprehensive, effective, and user-friendly software package will greatly facilitate the complicated design process. Based on the hardware configuration and design specifications, the engineers will have the freedom to compare those methodologies from various aspects and finally select one that suits their design needs. Other applications in areas such as aerospace engineering, medicine, biology, and economics, will also benefit from the outcome of this research, since many problems in these areas are mathematically similar to that in the disk drive servo.