ABSTRACT
The Final State Control (FSC) and frequency-shaped FSC inputs are designed for the plant of the Hard Disk Drive (HDD) Benchmark Problem, and the control performance is evaluated by simulations. In the HDD Benchmark Problem for track-seeking, the following assumptions are made: no disturbances are taken into account, the magnitude of the control input is not limited and two seek distances of one track and ten tracks. There are many types of the Two-Degrees-Of-Freedom (TDOF) control system, and the typical TDOF configurations of control systems. Experiments were conducted by using the same TDOF control structure as the simulations. The chapter discusses a Method that can take into account the voltage constraint of the current amplifier. An optimal feedforward input obtained by minimizing a cost function subjected to constraints may solve this problem. This optimal feedforward input plays an important role to achieve high-performance motion control.
