Design and experiment of add-on track following controller for optical disc drives based on robust output regulation

An add-on type output regulator is proposed in this paper. By an add-on controller, we mean an additional controller which operates harmonically with a pre-designed feedback controller. The role of the add-on controller is to reject a sinusoidal disturbance of unknown magnitude and phase but with a known frequency. The proposed output regulator can be designed independent of the feedback controller (that has been possibly pre-designed independently), thus we need only a knowledge of the plant under control. Advantages of the proposed controller are as follows. (1) It can be used only when the performance of disturbance rejection needs to be enhanced. (2) It is turned on and off without unwanted transient. Thus, controller scheduling is possible. (3) It is designed for perfect disturbance rejection not just for disturbance reduction. (4) Ability for perfect rejection is preserved even with uncertain plant model. Experimental results for an optical disc drive system confirm the effectiveness of the proposed method.

[1]  B. Francis.  The linear multivariable regulator problem , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[2]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[3]  S. Hara,et al.  Repetitive control system: a new type servo system for periodic exogenous signals , 1988 .

[4]  Masayoshi Tomizuka,et al.  Digital Control Of Repetitive Errors In Disk Drive Systems , 1989, 1989 American Control Conference.

[5]  Jie Huang,et al.  On a nonlinear multivariable servomechanism problem , 1990, Autom..

[6]  M. Tomizuka,et al.  Digital control of repetitive errors in disk drive systems , 1990, IEEE Control Systems Magazine.

[7]  M. Tomizuka,et al.  Comparison of four discrete-time repetitive control algorithms , 1993, IEEE Control Systems.

[8]  Kouhei Ohnishi,et al.  Motion control for advanced mechatronics , 1996 .

[9]  L. Dai,et al.  Solutions to the output regulation problem of linear singular systems , 1996, at - Automatisierungstechnik.

[10]  Christopher I. Byrnes,et al.  Structurally stable output regulation of nonlinear systems , 1997, Autom..

[11]  Myung Jin Chung,et al.  Repetitive control for the track-following servo system of an optical disk drive , 1998, IEEE Trans. Control. Syst. Technol..

[12]  A. Isidori,et al.  Semiglobal nonlinear output regulation with adaptive internal model , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[13]  Lorenzo Marconi,et al.  Semi-global nonlinear output regulation with adaptive internal model , 2001, IEEE Trans. Autom. Control..

[14]  Jung Rae Ryoo,et al.  Disturbance Observer Design for Track-following Control in Optical Disk Drive using Structured Singular Value , 2002 .

[15]  Kiyoshi Ohishi,et al.  Feed-forward tracking servo system for high-data-rate optical recording , 2002, International Symposium on Optical Memory and Optical Data Storage Topical Meeting.

[16]  Il Hong Suh,et al.  Robust tracking control of optical disk drive systems using error based disturbance observer and its performance measure , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[17]  Kyung-Soo Kim,et al.  Enhancing the tracking performance in optical storage systems using a disturbance compensator , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[18]  Maarten Steinbuch,et al.  Repetitive control for systems with uncertain period-time , 2002, Autom..

[19]  Sergio Bittanti,et al.  NOTCH FILTERING AND MULTIRATE CONTROL FOR , 2002 .

[20]  A. ADoefaa,et al.  ? ? ? ? f ? ? ? ? ? , 2003 .

[21]  Kiyoshi Ohishi,et al.  Feed-Forward Tracking Servo System for High-Data-Rate Optical Recording , 2003 .

[22]  A. Isidori,et al.  Topics in Control Theory , 2004 .