| 摘要 |
A head location control method, a head location control device, and a disk device are provided to estimate a disturbance frequency according to an estimation location error, and to change estimation gains of disturbance and estimation gains of an actuator corresponding to the disturbance frequency, thereby realizing proper observer control according to the disturbance frequency. When a control value of an actuator is operated by using estimation gains(L4,L5) of disturbance and estimation gains of the actuator according to an estimation location error by disturbance observer control which includes a model of the disturbance and a model of the actuator, a disturbance frequency is estimated according to an estimation location error e[k] and the estimation gains(L4,L5) of the disturbance and the estimation gains of the actuator corresponding to the disturbance frequency are changed.
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