Patent ID: 6216050
Filing Date: 2001-04-10
Classification: G11B

Abstract:
An actuator control apparatus for providing a control signal to an actuator driven by a driver circuit in response to a position signal from said actuator wherein said position signal is used to position a head coupled to said actuator, said actuator control apparatus comprising:an analog-to-digital converter (ADC) for converting said position signal into a digital position signal;a digital control device coupled to said ADC, said digital control device receiving said digital position signal and providing a digital control signal;a digital-to-analog converter (DAC) coupled to said digital control device, said DAC converting said digital control signal into an analog control signal; anda low pass filter (LPF) coupled between said driver circuit and said DAC and receiving said analog control signal, wherein said digital control device reconstructs the state model of a plant which includes said LPF to a state model using only directly observable state variables and collectively compensates for the phase delay resulting from said LPF.