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SUMMARYVariations and/or uncertainties in environments of mechatronic systems, such as electrical/mechanical parameter changes and nonlinear components, generally deteriorate the motion control performance. In our research, the fast and precise position settling performance for parameter variations in positioning devices can be improved by techniques of an on-line parameter identification and an initial value compensation. The proposed technique allows the positioning systems to be adaptive and robust for unknown parameter variations. The effectiveness of the approach has been verified by numerical simulations and experiments using a prototype.

Absfroef-This paper describes designing a controller of a hard disk drive for rejecting repeatable runout. Position Error Signal (PES) is consist of Repeatable Runout (RRO)

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