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Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive

Abstract : This paper deals with the track-following problem of a Read/Write (R/W) head of a Hard-Disk-Drive (HDD) servo-system, which is resolved with two control algorithms generated from Model Predictive Control (MPC). The first approach consists of a classical linear MPC without constraints. The second method is inspired from the MPC technique but uses a reference trajectory to steer the actuator as close as possible to the set-point trajectory. Numerical simulation results of these proposed controllers are presented and compared with those of a classical Proportional Derivative Controller (PID) controller. Different simulation scenarios are presented including nominal case, external disturbance rejection, and robustness under parameters uncertainties.
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Contributor : Ahmed Chemori <>
Submitted on : Wednesday, July 24, 2013 - 10:10:15 AM
Last modification on : Tuesday, March 9, 2021 - 5:09:25 PM
Long-term archiving on: : Friday, October 25, 2013 - 4:10:00 AM


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Manel Taktak-Meziou, Ahmed Chemori, Jawhar Ghommam, Nabil Derbel. Model Predictive Tracking Control for a Head-Positioning in a Hard-Disk-Drive. MED: Mediterranean Conference on Control and Automation, Jun 2013, Platanias-Chania, Crete, Greece. pp.1368-1373, ⟨10.1109/MED.2013.6608898⟩. ⟨lirmm-00847646⟩



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