Robust time optimal controller design for hard disk drives

Robust time optimal control algorithm based on internal loop compensator is proposed. Internal loop compensator effectively isolates hard disk system from the uncertain disturbances including modeling error, external disturba nce, shock, and control torque saturation. We use the H-infinity, mixed sen sitivity method for the optimization of internal loop compensator and proxi mate time optimal controller as a feedback controller to provide a time opt imal properly. The performance of the proposed controller is verified via s imulation works.