Method and apparatus for providing a variable rate oversampling digital filter for resonance compensation in disk drive servo control systems

摘要

A method and apparatus for controlling the position of a disk drive transducer head relative to a target track are provided. An oversampled control output allows frequencies that are higher than the Nyquist frequency of the servo control system to be filtered. The system initiates a plurality of control outputs during a single sampling period, allowing the use of a single processor interrupt for each sampling period. The outputs initiated during a single sampling period may be of unequal length. In addition, the outputs may be proportioned so that the total control energy provided to the actuator is equal to the control energy that would be provided by control outputs initiated every one-half sampling period.