Minimum residual vibration sliding mode servo control for computer disk drives

Abstract

This paper presents a discrete time design of sliding mode servo control with minimum residual vibration that significantly affects settling of the disk drive head to a target track. By optimizing the acceleration rate, the convergence rate to the sliding hyperplane for seek is determined for minimum residual vibration at the end of track seek. The scheme retains the intrinsic nature of the sliding mode servo control enforcing the actuator to slide along the optimally designed reference profile such that no substantial seek performance degradation occurs at all. Simulation and experiment results are also presented to demonstrate utility of the proposed minimum residual vibration sliding mode controller.