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Abstract
In various kinds of servo positioning systems, both fast movement and precise positioning are required. To meet these demands, a Mode Switching Control (MSC) method., which has several controllers for each requirement and switches from one to the other, has been proposed. The issue is a transient response after switching. This paper proposes the initial value compensation (IVC) method. Under the IVC, initial values are placed in the controller state variables or an additional input is added at switching. From experiment using hard disk drives, it is proved that the IVC improves transient responses after switching.
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