Patent ID: 6628579
Filing Date: 2003-09-30
Classification: G11B

Abstract:
A storage apparatus comprising:a head which moves to an arbitrary track position on a medium; a position signal detecting unit for detecting and outputting a position signal according to a positional deviation amount at a position of said head while using a predetermined position of a track on the medium as a reference; a feedback calculating unit for calculating a control signal based on said position signal, to move said head so as to suppress said positional deviation amount to zero; a learning control unit for analyzing a signal indicative of said positional deviation amount to reduce said said positional deviation amount for a repetitive disturbance to zero by developing an approximation function by a learning algorithm, and storing said function, and producing an output signal based on said function, and a driving unit for driving said head so as to trace said track in response to said position signal, said control signal and said output signal of said learning control unit; wherein said learning control unit obtains the approximated function on the basis of set of heights (ci) of N rectangular functions whose time widths are obtained by dividing time for one medium rotation period into N intervals, and wherein i is an index number from 0 to (Nâˆ’1) and N is an integer number greater than 1.