Robust control of interval plants using genetic algorithms
Control and Intelligent Systems
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Radial track following of an optical disk drive (ODD) servomechanism is severely exposed to periodic disturbances induced by eccentric rotation of the disc. Such disturbances cause the tracking errors of a periodic nature and can be effectively rejected by employing a repetitive controller. In this paper, we propose a repetitive 2DOF control scheme for an ODD track-following servo system with uncertain plant parameters. The proposed repetitive controller is designed on the basis of the frequency domain analysis of the linear interval system and installed as a plug-in module in an existing track following servo system whose feedback compensator is designed independently of the repetitive controller. Simulative and experimental results showed that the proposed control scheme enables a significant improvement of the tracking accuracy of the radial servomechanism.