The modeling of the tracking control system for the HDD servo is the main focus of this video. The model is a linear model (except for a saturation feature) and is expressed as a block diagram.
All parameters in the model have tolerances, that is, they are not exact and can vary from their nominal values. The numerical values are taken form the paper “Robust Control of a Hard-Disk Drive” by Da-Wei Gu.
An additional step is still needed to start using the Matlab Robust Control Toolbox in the design of the robust controller. This step is the mathematical representation of the uncertainties and the formulation of the final optimization problem. This is material for the next video.