Abstract
As optical disk drives are increasingly used in various applications, their servo systems must be made more robust. Various control technologies have been studied, [rf1,rf2] but they require larger circuits and longer computational times. In this paper, a high-gain servo controller with complex zeros, which is the same order controller as the conventional controller, is proposed. The complex zeros allow higher gain without the loss of phase margin. We implemented the high-gain servo controller in a digital servo system. The discrete model of the digital servo system had 3 sampling time delays, and it caused an enhancement of disturbances at high frequencies. We suppressed the enhancement, using the pole assignment method directly in the discrete model. The experimental data had small rotational errors and good performance for torque disturbance.
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