Microsystem Technologies

, Volume 18, Issue 5, pp 557–573 | Cite as

Robust regulation and tracking system design for multivariable control of the tape transport mechanism

  • Hamed MoradiEmail author
  • Firooz Bakhtiari-Nejad
  • Aria Alasty
Technical Paper


Tape mechanisms must be able to transport the tape with a constant velocity for achieving high rate of data transfer. In this paper, a multivariable model of tape transport mechanism including the take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. To achieve desired performance, pole-placement approach based on general canonical control form (GCCF) is used. Instead of using expensive tension sensors, an observer is designed. A regulator system is developed for disturbance rejection; and a modified integral control is designed for perfect tracking of desired set-points in tape speed and tensions. Since the real dynamic model associates with parametric uncertainties, an algorithm is developed for robust pole-placement. Eigenvalues of the uncertain control system are chosen such that appropriate responses are achieved while control efforts remain small bounded. Results show that robust performance is obtained for uncertain models with various parametric uncertainties.


Integral Control Disturbance Rejection Controller Pole Model Parametric Uncertainty Feedback Gain Matrix 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. Baumgart MD, Pao LY (2005) Time-optimal control of web-winding systems with air entrainment. IEEE/ASME Trans Mechatron 10(3):257–262CrossRefGoogle Scholar
  2. Baumgart MD, Pao LY (2007) Robust control of nonlinear tape transport systems with and without tension sensors. J Dyn Syst Meas Control 129(1):42–55CrossRefGoogle Scholar
  3. Boyle JM, Bhushan B (2006) Vibration modeling of magnetic tape with vibro-impact of tape-guide contact. J Sound Vib 289:632–655CrossRefGoogle Scholar
  4. Brake MR, Wickert JA (2010) Lateral vibration and read/write head servo dynamics in magnetic tape transport. J Dyn Syst Meas Control 132(1):1–11CrossRefGoogle Scholar
  5. Childers ER, Imaino W, Eaton JH, Jaquette GA, Koeppe PV, Hellman DJ (2003) Six orders of magnitude in linear tape technology: the one-terabyte project. IBM J Res Dev 47(4):471–482CrossRefGoogle Scholar
  6. Chudnow C (2000) (September) The future of desktop tape systems-industry trend or event, Computer Technology Review, available online at:
  7. D′ Azzo J, Houpis H (1995) Linear control system analysis and design: conventional and modern, 4th edn. McGraw-Hill, New YorkGoogle Scholar
  8. Dee RH (2004) (September) The future of tape for data storage: the 1-TB cartridge and beyond, Computer Technology Review, available online at:
  9. Franklin GF, Powell JD, Workman ML (1990) Digital control of dynamic systems. Addison-Wesley, Reading, MAzbMATHGoogle Scholar
  10. Franklin GF, Powell JD, Emami-Naeini A (1994) Feedback control of dynamic systems, 3rd edn. Addison–Wesley, MAGoogle Scholar
  11. Harada R (2005) (March) Tape is here to stay, Computer Technology Review, available online at:
  12. Jose J, Taylor RJ, de Callafon RA, Talke FE (2005) Characterization of lateral tape motion and disturbances in the servo position error signal of a linear tape drive. Tribol Int 38:625–632CrossRefGoogle Scholar
  13. Lee WS, Rao MVC (2006) Modeling and design of tape transport mechanism. Math Comp Simul 72(1):26–37MathSciNetzbMATHCrossRefGoogle Scholar
  14. Lu Y, Messner WC (2001a) Robust servo design for tape transport. In: Proceedings of IEEE international conference on control applications, Mexico City, IEEE, New York, pp 1014–1019Google Scholar
  15. Lu Y, Messner WC (2001b), Disturbance observer design for tape transport control. In: Proceedings of the american control conference, Arlington, VA, IEEE, vol 4, Piscataway, NJ, pp 2567–2571Google Scholar
  16. Luitjens ST, Folkerts W, Van Kesteren HW, Ruigrok JM (1998) Trend in digital magnetic recording: the application of thin film heads for tape recording. Philips J Res 51(1):5–19CrossRefGoogle Scholar
  17. Mathur PD, Messner WC (1998) Controller development for prototype high-speed low-tension tape transport. IEEE Trans Control Syst Technol 6(4):534–542CrossRefGoogle Scholar
  18. Mattingly B (1999) (September) Tape storage is the best backup medium-still-technology information, Computer Technology Review, available online at:
  19. McKnight JG (1968) Speed, pitch, and timing errors in tape recording and reproducing. J Audio Eng Soc 16(3):266–274Google Scholar
  20. Moradi H, Haji Hajikolaei K, Motamedi M, Alasty A (2009) Performance control of a tape transport mechanism using entire eigenstructure assignment, 2009 ASME Int. Mech. Eng. Cong. Exp., IMECE2009-11200, November 13–19, Florida, USAGoogle Scholar
  21. Ogata K (2002) Modern control engineering, 4th edn. Prentice Hall, New JersyGoogle Scholar
  22. Ono K (1997) Transversal motion transfer characteristics of axially moving tape over guide post with coulomb friction. Jpn J Tribol 42(5):582–583Google Scholar
  23. Panda SP, Engelmann AP (2002) Modeling and control system design of reel-to-reel tape drives. In: Proceedings of the American control conference, Anchorage, AK, pp 927–933Google Scholar
  24. Panda SP, Engelmann AP (2003) Control and operation of reel-to-reel tape drives without tension transducer. Microsyst Technol 10(1):53–59CrossRefGoogle Scholar
  25. Panda SP, Lu Y (2003) Tutorial on industrial application of tape drive control techniques. In: Proceedings of American Control Conference, Denver, pp 1–17Google Scholar
  26. Precup RE, Lee WS, Rao MVC, Preitl Z (2008) Linear and fuzzy control solutions for tape drives. J Electr Eng 90(5):361–377CrossRefGoogle Scholar
  27. Tan E, Vermeulen B (1989) Digital audio tape for data storage. J IEEE Spectr 26(10):34–38CrossRefGoogle Scholar
  28. Taylor RJ, Talke FE (2003) High frequency lateral tape motion and the dynamics of tape edge contact. J Microsyst Thechnol 11(8–10):1166–1170Google Scholar
  29. Taylor RJ, Talke FE (2005) Investigation of roller interactions with flexible tape medium. J Tribol Int 38(6–7):599–605CrossRefGoogle Scholar
  30. Taylor RJ, Chung M, Talke FE (2006) Dynamic simulation of in-plane transverse displacement of tape. J Microsyst Thechnol 12(12):1117–1124CrossRefGoogle Scholar
  31. Wickert JA, Mote CD Jr (1990) Classical vibration analysis of axially moving continua. ASME J Appl Mech 57(3):738–744zbMATHCrossRefGoogle Scholar

Copyright information

© Springer-Verlag 2012

Authors and Affiliations

  • Hamed Moradi
    • 1
    Email author
  • Firooz Bakhtiari-Nejad
    • 1
  • Aria Alasty
    • 2
  1. 1.Department of Mechanical EngineeringAmirkabir University of TechnologyTehranIran
  2. 2.School of Mechanical EngineeringSharif University of TechnologyTehranIran

Personalised recommendations