Abstract
We applied H∞ control theory to design a head-positioning servo system of a magnetic disk drive from the point of view of loop shaping. This H∞ control theory, called Loop Shaping Design Procedure (LSDP), was used to shape the transfer function of this closed-loop system. And, to obtain a good transient response characteristics after it switches the servo system to following mode from seek mode, we applied initial value compensation (IVC) to the servo system. We also measured closed-loop frequency characteristics and track seek response experimentally, and these measurements show that LSDP can provide a good system design with adequately balanced robust stability and disturbance suppression characteristics. Moreover, IVC can produce good transient response characteristics with less overshoot after mode switching.
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