Robust control applications to hard disk drives

磁性硬盘驱动器是当今广泛使用且不可或缺的存储介质。存储介质已被广泛应用于从笔记本电脑、移动音频播放器、汽车导航到安全和通信系统的各种应用。磁盘驱动器行业当前的目标是打破每平方英寸1万亿比特的存储密度障碍，这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，人们提出了几种双级驱动方案。然而，所有这些建议导致了多变量伺服系统，对于该系统，传统的标量设计技术变得不足以充分发挥该系统的潜力。因此，必须为两级多传感系统提出适当的设计方法，其中以明确和系统的方式追求最优、稳健的性能。这项建议就是对这一需求的回应。

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.