Design of Disturbance Observer Using Robust Control Method for SPM-based Data Storage Systems

SPM-based Data Storage 시스템을 위한 강인 제어 시스템 설계 방식을 이용한 외란 관측 제어기 설계

  • 문준 (한양대학교, 국방과학연구소) ;
  • 이충우 (한양대학교 전자통신전파공학과) ;
  • 정정주 (한양대학교 전기제어생체공학부)
  • Published : 2009.01.01


In this paper, we apply the robust disturbance observer (DOB) to a SPM-based data storage (SDS) system. In the SDS system, coupling dynamics and parameter uncertainties are obstacles to the precision tracking control. Although the DOB is known to be an effective method to reject disturbances, there has been no systematic design approach to how to design DOB parameters. In this paper, the robust DOB is formulated based on the robust stabilization of normalized coprime factor plant description and the $H{\infty}$ loop shaping method. From the simulation and experimental results. the improved robustness and performance are obtained by the proposed robust DOB.


  1. E. Eleftheriou, T. Antonakopoulos, G. Binnig, G. Cherubini, M. Despont, A. Dholakia, U. Durig, M. Lantz, H. Pozidis, H. Rothuizen, and P. Vettiger, Millipede - a MEMS based scanning-probe data storage system,' IEEE Transactions on Magnetics, Vol. 39 No.2, pp. 938 - 945, 2003
  2. H. Pozidis, P. Achtold, J. Bonan, G. Cherubini, E. Eleftheriou, M. Despont and U. Drechsler, 'Scanning Probes Entering Data Storage: From Promise to Reality,' IBM research paper, 2006
  3. A. Pantazi, A. Sebastian, G. Cherubini, M. Lantz, H. Pozidis, H. Routhuizen and E. Eletheriou, 'Control of MEMS-based scanning-probe data-storage devices,' IEEE Transactions on Control System Technology, Vol. 15, No.5, pp. 824-841, 2007
  4. K. Ohishi, T. Miyazaki and Y. Nakamura, 'High performance ultra-low speed servo system based on doubly coprime factorization and instantaneous speed observer,' IEEE/ASME Transactions on Mechatronics, Vol. 1, No. 1, pp. 89-98, 1996
  5. T. Umeno, T. Kaneko and Y. Hori, 'Robust servo system design with two degree of freedom and its application to novel motion control of robot manipulators,' IEEE Transactions on Industrial Electronics, Vol. 40, No.5, pp. 473-485, 1993
  6. K. Yamada, S. Komada, M. Ishida and T. Hori, 'Characteristics of servo system using high order disturbance observer,' Proceedings of IEEE Conference on Decision and Control, pp. 3252-3257, 1996
  7. Y. J. Choi, K. Yang, W. K. Chung, H. R. Kim and I. H. Suh, 'On the robustness and performance of disturbance observer for second order systems,' IEEE Transactions on Automatic Control, Vol. 48, No. 2, pp. 315-320, 2003
  8. K. Glover and D. Mcfarlane, 'Robust stabilization of normalized coprime factor plant description $\text H_\infty$ bound uncertainty,' IEEE Transactions on Automatic Control, Vol. 34, No. 8, pp. 821-830, 1989
  9. D. Mcfarlane and K. Glover, 'A loop shaping design procedure using $\text H_\infty$ synthesis,' IEEE Transactions on Automatic Control, Vol. 37, No.6, pp. 759-769, 1992
  10. Jun. Moon, C. W. Lee, C. C. Chung and W. S. Kim, 'Design Disturbance Observer via Robust Stabilization and $\text H_\infty$ Loop Shaping Method,' Proceedings of 17th IFAC 2008 World Congress, Seoul, Korea, pp. 9272-9277, July, 2008
  11. S. Skogestad and I. Postlethwaite, Multivariable Feedback Control 2nd edition, Wiley, 2005
  12. G. Vinnicombe, Uncertainty and Feedback $\text H_\infty$ Loup Shaping and v-gap Metric, Imperial, College Press, 2001