微硬盘时变线性系统的随机扰动衰减研究

针对微硬盘伺服系统中音圈马达驱动器的不确定时变线性模型，利用李亚普诺夫稳定性理论及线性矩阵不等式，提出一种非线性观测器及其相应的含饱和项的反馈控制器．从理论上论证了系统在所设计的控制器作用下能全局一致毕竟有界，并实现了扰动衰减．应用多种类型的扰动测试该控制器，结果显示磁头的输出能快速进入和保持在指定磁道所容许的范围内，而且，在该控制器作用下，扰动衰减速度快.

Study on Stochastic Disturbance Attenuation of Time-variant Linear System on Micro Hard Disk

For the uncertain time-variant linear model of voice coil motor in micro hard disk servo control system, a nonlinear observer and its corresponding feedback controller with one saturation term are proposed by utilizing Lyapunov stability theory and linear matrix inequality. Theoretically, by means of the designed controller, the system is globally uniformly ultimate bounded, and disturbance attenuation is achieved. Multiple kinds of disturbances are used to examine the controller and the results show that the output of the slider head can rapidly enter into the admissable scope of the specific magnetic track and maintain within the scope. Furthermore, fast disturbance attenuation can be achieved with the controller.