ABSTRACT
This introduction presents an overview of the key concepts discussed in the subsequent chapters of this book. The book focuses on control systems design, motion control can be divided into the following four design phases. Those are design of reference trajectory, design of controllers to track the reference trajectory, design of transient or settling controller to minimize the tracking error caused by various unmodeled dynamics and design of controllers to suppress external disturbances to ensure that the controlled object remains on its target position. The book describes both the reference trajectory and controller design with specific considerations of the mechanical resonant modes. It explores the use of dual-stage actuation and multi-sensing servo systems are also powerful approaches for improving the disturbance suppression capabilities in mechatronic systems. The book examines the hard disk drives are used as a classic example of high-performance mechatronic systems to illustrate the mechanical actuators and their corresponding modeling techniques for simplicity but without loss of generality.
