A Novel Discrete-Time Sliding Mode Technique and its Application to a HDD Dual-Stage Track-Seek and Track-Following Servo System

Herrmann, G. and Edwards, Christopher and Hredzak, B. and Venkataramanan, V. and Spurgeon, Sarah K. (2008) A Novel Discrete-Time Sliding Mode Technique and its Application to a HDD Dual-Stage Track-Seek and Track-Following Servo System. International Journal of Adaptive Control and Signal Processing, 22 (4). pp. 344-358. ISSN 0890-6327. (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

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A novel approach for the design of a discrete-time sliding mode controller is presented showing that the dynamics of a sliding-mode state-feedback controller can be designed using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. The reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account the constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion. The control approach is demonstrated in conjunction with a recently developed large-span track-seeking and track-following method for dual-stage actuator systems in a hard disk drive (HDD). It is shown how the discrete-time sliding mode control scheme can be incorporated into the observer-based control system for the secondary actuator. Superior performance for the track-seeking and track-settling process is demonstrated using an existing practical set-up of a dual-stage HDD servo system. Copyright (C) 2007 John Wiley & Sons, Ltd

Item Type: Article
Uncontrolled keywords: dual-stage control; hard disk drives; discrete-time control; sliding mode control; nonlinear control
Subjects: T Technology > TA Engineering (General). Civil engineering (General) > TA166 Instrumentation
Divisions: Faculties > Science Technology and Medical Studies > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: J. Harries
Date Deposited: 17 Apr 2009 13:52
Last Modified: 04 Jul 2014 08:37
Resource URI: https://kar.kent.ac.uk/id/eprint/13314 (The current URI for this page, for reference purposes)
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