Industrial perspective on robust control: Application to storage systems

Abstract

This paper considers the design and implementation of robust controllers for a Compact Disk and a Hard Disk mechanism. The design objective is to achieve good track-following performance in the presence of track-disturbances and external mechanical shocks, while accounting for model uncertainties. This robust performance problem has been solved in the H ∞/μ-framework. The design iteration is based on disturbance identification and suppression, including implementation within the design cycle. The industrial relevance of robust control is discussed and areas for future research in robust control are indicated, as seen from an industrial perspective.