| 摘要 |
Apparatus and method for improving vibration and mechanical shock response of a control system through the use of discrete-time sliding mode control with variable parameters are disclosed. A servo circuit (150) for positioning a head (118) of a disc drive (100) includes a reference generator (314, 414) generating position and velocity references, an observer (306, 406) generating position and velocity estimates, and error circuitry (322, 326, 422, 426) for determining position and velocity errors therefrom. Gain circuitry (330, 332, 334, 336, 338, 340, 430, 432) applies variable position and velocity gains to the position and velocity errors, respectively, the position and velocity gains varying with respect to at least the magnitudes of the position errors.
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