Abstract
The secondary actuator in dual-stage hard disk drives (HDDs) is subject to both amplitude and rate saturations. This paper proposes an anti-windup scheme based on robust control methodologies by modeling the saturations as bounded nonlinear uncertainties. The scheme is constructed as an add-on linear conditioning structure which consists of a dual-input-dual-output filter. With the proposed scheme, the induced l2 norm from the disturbance to the position error is minimized with guaranteed stability. Loop transformations to reduce redundant uncertainties and weighting functions to accommodate different performances are discussed. Simulation validation on a dual-stage HDD system is performed and the effectiveness of the proposed anti-windup scheme is demonstrated.
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