This chapter demonstrates the use of anti-windup compensation in the control loop of a micro-actuator which is nominally controlled by a
linear, discrete robust controller. The micro-actuator is part of a hard disk drive dual-stage servo-control system for positioning of the read/write head. The actuator inputs are constrained to retain the micro-actuator's displacement range of less than 0.4 mu m for
In the first part of the chapter, the anti-windup compensation scheme exemplifies an approach suggested by Weston & Postlethwaite. Here, the scheme is posed as a discrete full-order
compensator and the closed loop analysis uses a generalized circle citerion approach. The design of the compensator is posed in LMI-form.
In the second part of the chapter, it is shown how the linear micro-actuator control loop with anti-windup compensation is incorporated into the non-linear servo-control scheme for positioning of the read/write head in a hard disk drive.
|Translated title of the contribution
|Case study on anti-windup compensation - Micro-actuator control in a hard-disk drive
|Title of host publication
|Mathematical Methods for Robust and Nonlinear Control
|M. C. Turner, D. G. Bates
|413 - 430
|Number of pages
|Published - 2007
|Lecture Notes in Control and Information Sciences