Robust Control of Hard Disk Drive Servo (Part 5)

In this video, Robust Control of Hard Disk Drive Servo, Part 5, we expand the original model found in Part 4. We add the structured uncertainty block Δ that reflects the tolerance of each parameter of the physical model and we include the weights whose reciprocals indicate the desired frequency response of the signals that we […]

Robust Control of Hard Disk Drive Servo (Part 4)

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 […]

Robust Control of Hard Disk Drive Servo (Part 3)

Continuing this series of videos, we explain fundamentals of HDD theory of operation. Main interest lies in how the position error signal is obtained to understand its nonlinear nature and its limitations. The video illustrates the basic components of a hard disk drive: spindle motor, voice coil motor or actuator, disks, arms and read/write heads.  It also […]

Robust Control of Hard Disk Drive Servo (Part 2)

This is the second video in the series on Robust Control applied to hard disk drive servo. This video is about the theory and concepts involved in Robust Control for MIMO systems to set the stage for the actual robust control design of HDD servo. This video approaches the following topics: How to define the […]

Robust Control of Hard Disk Drive Servo (Part 1)

This is the first video of a series on Robust Control applied to hard disk drive (HDD) servo. This video is about the concepts involved in Robust Control for SISO (Single-Input-Single-Output) systems to prepare the terrain for MIMO (Multiple-Input-Multiple-Output) systems in video # 2. Initially I introduce the theory of Robust Control, and I do […]