| 摘要 |
PROBLEM TO BE SOLVED: To realize an information recording and reproducing device which is capable of expanding a control band and keeping a head on tracks with high accuracy in spite of the variation and fluctuation in the characteristics of a controlled object in positioning. SOLUTION: The recalculation and correction operation of controller gains, parameters, etc., are carried out by using a magnetic disk device having a control section 110 for positioning having a control means 113 provided with a parameter regulating section 200 for measuring the parameters of the controlled object and regulating the controller gains, observer gains and the parameters of an observer model in addition to a state estimating section 113a for estimating the states of a position, speed, vibration mode, etc., and a controlled variable forming section 113b for computing the controlled variable, by which the vibration mode is optimized and the controlled band is expanded.
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