A Two-Degree-Of-Freedom Time-Optimal Solution for Hard Disk Drive Servo Problems

This paper deals with the hard disk drive (HDD) servo problems. A novel discrete time-optimal control solution is proposed in a two-degree-of-freedom (2DOF) structure, employing both the feedback and feedforward controllers. The time-optimal feedback controller, derived from a simple, double integral plant model, shows remarkable robustness and disturbance rejection in the presence of resonant modes, measurement noises and position and torque disturbances. It eliminates the needs for two separate controllers for track-seeking and track-following operations. The proposed feedforward controller in this 2DOF structure proves to be quite beneficial in reducing the seek time. It also allows the feedback controller to be tuned more aggressively, which helps to improve the quality of track following. The proposed control scheme offers a novel basic control structure for HDD servo, upon which numerous further improvements can be made. It is successfully tested in simulation on an industrial 13.0-kTPI HDD

ADVANCED SENSOR FUSION AND VIBRATION CONTROL TECHNOLOGIES FOR ULTRA-HIGH DENSITY HARD DISK DRIVES

Ph.DDOCTOR OF PHILOSOPH

Advance Servo Control for Hard Disk Drive in Mobile Application

Ph.DDOCTOR OF PHILOSOPH

Robust periodic disturbance compensation via multirate control

Master'sMASTER OF ENGINEERIN

CHALLENGES OF CONTROL DESIGN FOR PRECISION SERVO SYSTEM WITH APPLICATION ON HARD DISK DRIVE

Ph.DDOCTOR OF PHILOSOPH

Randomized algorithms for control of uncertain systems with application to hand disk drives

Ph.DDOCTOR OF PHILOSOPH

DISK DESIGN-SPACE EXPLORATION IN TERMS OF SYSTEM-LEVEL PERFORMANCE, POWER, AND ENERGY CONSUMPTION

To make the common case fast, most studies focus on the computation phase of applications in which most instructions are executed. However, many programs spend significant time in the I/O intensive phase due to the I/O latency. To obtain a system with more balanced phases, we require greater insight into the effects of the I/O configurations to the entire system in both performance and power dissipation domains. Due to lack of public tools with the complete picture of the entire memory hierarchy, we developed SYSim. SYSim is a complete-system simulator aiming at complete memory hierarchy studies in both performance and power consumption domains. In this dissertation, we used SYSim to investigate the system-level impacts of several disk enhancements and technology improvements to the detailed interaction in memory hierarchy during the I/O-intensive phase. The experimental results are reported in terms of both total system performance and power/energy consumption. With SYSim, we conducted the complete-system experiments and revealed intriguing behaviors including, but not limited to, the following: During the I/O intensive phase which consists of both disk reads and writes, the average system CPI tracks only average disk read response time, and not overall average disk response time, which is the widely-accepted metric in disk drive research. In disk read-dominating applications, Disk Prefetching is more important than increasing the disk RPM. On the other hand, in applications with both disk reads and writes, the disk RPM matters. The execution time can be improved to an order of magnitude by applying some disk enhancements. Using disk caching and prefetching can improve the performance by the factor of 2, and write-buffering can improve the performance by the factor of 10. Moreover, using disk caching/prefetching and the write-buffering techniques in conjunction can improve the total system performance by at least an order of magnitude. Increasing the disk RPM and the number of disks in RAID disk system also have an impressive improvement over the total system performance. However, employing such techniques requires careful consideration for trade-offs in power/energy consumption

Fourth NASA Goddard Conference on Mass Storage Systems and Technologies

This report contains copies of all those technical papers received in time for publication just prior to the Fourth Goddard Conference on Mass Storage and Technologies, held March 28-30, 1995, at the University of Maryland, University College Conference Center, in College Park, Maryland. This series of conferences continues to serve as a unique medium for the exchange of information on topics relating to the ingestion and management of substantial amounts of data and the attendant problems involved. This year's discussion topics include new storage technology, stability of recorded media, performance studies, storage system solutions, the National Information infrastructure (Infobahn), the future for storage technology, and lessons learned from various projects. There also will be an update on the IEEE Mass Storage System Reference Model Version 5, on which the final vote was taken in July 1994

NASA Tech Briefs, November 1993

Topics covered: Advanced Manufacturing; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Extended active disturbance rejection controller

Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow