| 摘要 |
<P>PROBLEM TO BE SOLVED: To add an external disturbance suppression function without deteriorating observer's control characteristics in a device for controlling a head position based on observer control having an external disturbance suppression function. Ž<P>SOLUTION: Actuator models 34 to 44 are separated from an external disturbance model 50. The external disturbance model 50 generates state information by using an estimation gain obtained from the external disturbance model defined by a transmission function where degrees of a denominator and a numerator shaping a sensitivity function are defined by the numerator and the denominator of the same filter, and calculates an external disturbance suppression value of the actuator 1 from the state information. The external disturbance model generates state information by using estimation gains of external disturbances of a plurality of models defined by a transmission function where numerators of a plurality of shaping filters based on a plurality of external disturbance frequencies to be suppressed are set as denominators according to an estimation position error, calculates a plurality of external disturbance suppression values of the actuator from the state information, and adds the plurality of external disturbance suppression values. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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