ABSTRACT
This chapter discusses several methods for designing the initial values. It examines the methods for designing Initial Value Compensation (IVC) and explores the application of IVC to mode switching in Hard Disk Drives (HDD), an optical disk drive, and a personal mobility robot. The chapter outlines application of IVC to reference switching for a laser drilling machine. The application to short track seek control in HDDs may be another application of the latter case, although IVC is applied at steady state. In IVC, the initial values of the controller state variables after mode switching are design parameters. In order to achieve the effects of the IVC method, the design of switching conditions is also carried out. By using the IVC method, the initial state of the settling controller is produced by the initial state of the plant. The chapter shows that a multi-mode structure with switching is called Mode Switching Control, and details design methodology and application examples.
