Patent ID: 6101058
Filing Date: 2000-08-08
Classification: G05B,G11B

Abstract:
A method of implementing a model based servo controller in a digital signal processor (DSP) in a disc drive, the method comprising steps of:(a) obtaining a stable model of the servo controller;(b) obtaining matrices from a first discrete time state-space realization of the stable model of the servo controller;(c) scaling controller states of the servo controller to reduce a worst case bound on the controller states;(d) transforming the first state-space realization to a second state-space realization having a structure such that the number of required mathematical operations to compute the second realization increases linearly with an increase in a number of states of the controller relative to a number of inputs to, and outputs from, the controller; and(e) converting the matrices to a fixed-point format suitable for operation in the DSP.