# 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

#### Abstract

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.

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