Data-driven Approach for Disturbance Rejection for Dual-Stage Actuator Hard Disk Drives

Disturbance rejection is a crucial problem in contemporary Hard Disk Drives (HDDs) to increase data storage capacities in an information-centric society. This paper presents a control method to mitigate steady-state oscillations of a dual-stage HDD. A data-driven control design method, using only the frequency response data of HDD actuators, is used to minimize the mixed H 2 / H ∞ norms of the closed-loop system by solving a series of convex optimization problems. The design objective is to minimize steady-state oscillations of HDD heads while simultaneously ensuring actuator stroke limitations and robustness. The proposed approach is tested on the benchmark problem given during the International Federation of Automatic Control World Congress 2023. Simulation results demonstrate the efficacy of this method in deriving high-performance controllers, achieving lower tracking error variance than other presented approaches.