Magnetic-head positioning control system in HDDs

This file contains a simulator for the benchmark problem of a magnetic-head positioning control system in HDDs.

Setting

1. Download the file.
2. Unzip the file.
3. Start MATLAB.
4. Set the Current Folder as the unzipped folder.

Usage

1. Save the designed controller as Data_Cd.mat and Data_Fm.mat. As an example, the unzipped folder includes these files, which are designed based on the following reference paper. T. Atsumi and S. Yabui, “Quadruple-Stage Actuator System for Magnetic-Head Positioning System in HDDs”, The IEEE Transactions on Industrial Electronics, Vol. 67, No. 11, pp. 9184-9194, (2020-11), DOI: 10.1109/TIE.2019.2955432
2. Execute “Simulation_trackfollow”, which shows the simulation results of the control system.
3. Execute “Plot_control_system”, which shows the frequency responses of the control system.

The following site contains the user manual: [http://www2.iee.or.jp/~dmec/committee/DMEC1005/dsa_HDD_bench_e.html]

Academic papers using this benchmark problem

1. R. Muto and Y. Uchimura, "Controller design for HDD benchmark problem using RNN-based reinforcement learning," IFAC-PapersOnLine, vol. 56, no. 2, pp. 4424-4429, 2023, doi: 10.1016/j.ifacol.2023.10.1831.
2. S. Yabui, T. Atsumi, and A. Okuyama, "Control scheme of RRO compensation for track mis-registration in HDDs," IFAC-PapersOnLine, vol. 56, no. 2, pp. 6332-6337, 2023, doi: 10.1016/j.ifacol.2023.10.810.
3. T. Atsumi, "Benchmark problem for magnetic-head positioning control system in HDDs," IFAC-PapersOnLine, vol. 56, no. 2, pp. 8790-8796, 2023, doi: 10.1016/j.ifacol.2023.10.065.
4. X. Wang, W. Ohnishi, and T. Atsumi, "Systematic filter design by convex optimization for disturbance rejection in dual-stage actuated hard disk drives," IFAC-PapersOnLine, vol. 56, no. 2, pp. 10608-10613, 2023, doi: 10.1016/j.ifacol.2023.10.683.
5. M. Hirata, J. Shimokasa, and M. Suzuki, "Two-step design of H-infinity controller for dual stage hard disk drives," in Proc. 22nd IFAC World Congress, 2023, pp. 11376-11379.
6. N. Potu Surya Prakash, J. Seo, A. Rose, and R. Horowitz, "Data-driven track following control for dual stage-actuator hard disk drives," in Proc. 22nd IFAC World Congress, 2023, pp. 11380-11383.
7. M. Mae, W. Ohnishi, and H. Fujimoto, "Frequency response data-based resonant filter design considering phase stabilization and stroke limitation applied to dual-stage actuator hard disk drives," IFAC-PapersOnLine, vol. 56, no. 2, pp. 10614-10619, 2023, doi: 10.1016/j.ifacol.2023.10.684.
8. R. J. Caverly, M. Chakraborty, B. Huang, and R. Sosseh, "Robust mixed H2 H-infinity control synthesis for dual-stage hard disk drives using convex optimization," in Proc. 22nd IFAC World Congress, 2023, pp. 11396-11401.
9. S. Bashash, "Automated multi-objective control optimization of dual-stage hard disk drive servo systems," in Proc. 22nd IFAC World Congress, 2023, pp. 11402-11405.
10. Y. Tanaka and J. Ishikawa, "Validation of feedforward disturbance cancellation for the PSS3 HDD benchmark problem for dual stage actuators," in Proc. IEEE/ASME AIM, Seattle, WA, USA, 2023, pp. 1115-1120, doi: 10.1109/AIM46323.2023.10196160.
11. J. Ouyang and X. Chen, "A recursive system identification with non-uniform temporal feedback under coprime collaborative sensing," ASME Letters in Dynamic Systems and Control, vol. 3, no. 2, p. 021010, 2023, doi: 10.1115/1.4063481.
12. T. Atsumi, S. Yabui, and S. Nakadai, "Optimization method for magnetic-head positioning control system in HDD against unexpected plant perturbations by using data mining techniques," IEEE Trans. Magn., vol. 60, no. 1, pp. 1-14, Jan. 2024, Art. no. 3300114, doi: 10.1109/TMAG.2023.3333945.
13. H. Murakami and S. Yabui, "Loop shaping method based on data considering mechanism constraints for each actuator in DISO magnetic head position control system in HDDs," in Proc. IEEE AMC, Kyoto, Japan, 2024, pp. 1-6, doi: 10.1109/AMC58169.2024.10505678.
14. T. Atsumi, S. Yabui, A. Okuyama, and M. Mae, "Loop-shaping method with unstable poles for magnetic-head positioning control in hard disk drive," in Proc. IEEE AIM, Boston, MA, USA, 2024, pp. 818-823, doi: 10.1109/AIM55361.2024.10637224.
15. E. A. Lehner, R. J. Caverly, B. Huang, and R. Sosseh, "A comparison of multi-objective servo controller synthesis methodologies in dual-stage hard disk drives," IFAC-PapersOnLine, vol. 58, no. 28, pp. 959-964, 2024, doi: 10.1016/j.ifacol.2025.01.120.
16. M. Haren, M. Mae, L. Blanken, and T. Oomen, "Lifted frequency-domain identification of closed-loop multirate systems: Applied to dual-stage actuator hard disk drives," Mechatronics, vol. 108, p. 103311, 2025, doi: 10.1016/j.mechatronics.2025.103311.
17. M. Mae, "Data-driven multiple resonant filter design integrating notch filters and peak filters in dual-stage actuator hard disk drives," in Proc. IEEE ICM, Wollongong, Australia, 2025, pp. 1-6, doi: 10.1109/ICM62621.2025.10934774.
18. M. Mae, "Data-driven loop-shaping with resonant filters integrating unstable and stable poles in dual-stage actuator hard disk drives," IFAC-PapersOnLine, vol. 59, no. 17, pp. 125-130, 2025, doi: 10.1016/j.ifacol.2025.10.151.
19. R. Oddon, V. Gupta, P. Schuchert, and A. Karimi, "Data-driven approach for disturbance rejection for dual-stage actuator hard disk drives," IFAC-PapersOnLine, vol. 59, no. 16, pp. 289-294, 2025, Proc. ROCOND 2025.
20. J. Morimoto, K. Yubai, D. Yashiro, and S. Komada, "Frequency-response-based track-following controller design for a dual-stage actuator HDD benchmark problem using a sensitivity decoupling structure," IEEJ Journal of Industry Applications, vol. 15, no. 2, pp. 221-229, 2026, doi: 10.1541/ieejjia.20250276.