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This paper considers the determination of reference trajectories for use with a two-degree of-freedom (2-DOF) controller for the head positioning of hard disk drives (HDD). The reference trajectories are designed in two stages-off-line simulation and online reference generation. The HDD model used for the design includes the back electromotive force of the voice coil motor. In the second stage, the idea of structural vibration minimized acceleration trajectory is utilized to adjust the errors at the end of the trajectories. 2-DOF control with the proposed reference trajectory is compared to conventional mode-switching control, and its effectiveness is verified.
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Hara et al. (2000) studied this question.
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