Adaptive regulation to nominal response for uncertain mechanical systems and its application to optical disk drive

In this paper, we present an add-on type robust controller for uncertain mechanical systems with a sinusoidal disturbance of an unknown frequency. The main purpose is to recover (predefined) nominal tracking performance in an "asymptotic" sense, that is, the actual output asymptotically converges to the nominal trajectory, as well as the maximumdifference between them ismaintained small enough during the operation. As a key component of the proposed controller, a disturbance observer that contains an internal model is proposed. Especially, the parameters of the internal model are updated in an "adaptive" fashion in order to cope with the unknown frequency of the disturbance, for which a frequency identifier is employed in the controller design. The nominal performance recovery of the proposed controller is analyzed in the sense of Lyapunov and singular perturbation theory. Both simulation and experimental results point out that the proposed control scheme can serve as a robust track following controller for uncertain optical disk drive systems where eccentricity of disk causes a sinusoidal disturbance.