Patent Document ID: 20070279794
Application ID: 11443806
Patent Flag: 0

Claim One:
1. A controller for use in controlling a drive device of a disk drive by generating a total control signal, the controller comprising: a combining module that generates a total control signal by combining a feedback control signal and a feedforward control signal; a feedback control module, operably coupled to the combining module, that generates the feedback control signal in response to at least one state of the drive device; a feedforward control module, operably coupled to the combining module, that generates the feedforward control signal based on a smoothing function and a feedforward control function, wherein the smoothing function is determined by: evaluating a plurality of candidate smoothing functions by determining a smoothness factor associated with the control signal that results from each of the plurality of candidate smoothing functions; selecting one of the plurality of candidate smoothing functions having the most favorable smoothness factor; generating the smoothing function as an approximation of the selected one of the plurality of candidate smoothing functions; and wherein the feedforward control signal is generated as a product of the smoothing function and the feedforward control function.