Abstract
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 μm for mechanical protection.
In the first part of the chapter, the anti-windup compensation scheme exemplifies an approach suggested by Weston & Postlethwaite [29]. Here, the scheme is posed as a discrete full-order compensator and the closed loop analysis uses a generalized circle criterion 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.
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Herrmann, G., Turner, M.C., Postlethwaite, I. (2007). Case Study on Anti-windup Compensation - Micro-actuator Control in a Hard-Disk Drive. In: Turner, M.C., Bates, D.G. (eds) Mathematical Methods for Robust and Nonlinear Control. Lecture Notes in Control and Information Sciences, vol 367. Springer, London. https://doi.org/10.1007/978-1-84800-025-4_14
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DOI: https://doi.org/10.1007/978-1-84800-025-4_14
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