Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Repetitive Control for Track-Following Servo of an Optical Disk Drive Using Linear Matrix Inequalities

선형 행렬 부등식을 이용한 광 디스크 드라이브의 트랙 추종 서보를 위한 반복 제어

  • 도태용 (한밭대학교 제어계측공학과) ;
  • 문정호 (강릉대학교 정보전자공학부)
  • Published : 2003.02.01
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Abstract

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

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References

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