Patent ID: 6831809
Filing Date: 2004-12-14
Classification: G11B

Abstract:
A rotary recording apparatus comprising:a rotary type recording medium on which information is recorded; a head for at least reading out information from said recording medium; a head drive for driving said head; a head position detector for outputting data on the current position of said head; a controller for controlling the position of said head relative to said recording medium; said controller including a feedforward control signal generator for outputting a feedforward control signal in response to input of a target position of said head, a control model which outputs reference position data in response to input of the feedforward control signal, and a feedback controller which outputs a feedback control signal in response to input of the reference position data and negative feedback data; said controller controlling the position of said head to be in the target position by inputting the feedback control signal and the feedforward control signal to said head drive, by setting the negative feedback data to the current position data, and by inputting the difference between the reference position data and the negative feedback data to said feedback controller; and said control model being compensated so that, in a compensation process state in which compensation is made for an input to said feedback controller as a bias force, and in which the negative feedback is shut off, a sequence of the reference position data and a sequence of the current position data for each control cycle coincide with each other in response to input of the target position.