Bibliography

[1] Abramovitch, D.Y., Wang, F. and Franklin, G.F. Disk drive pivot nonlinearity modeling, part 1: Frequency domain, Proceedings of the 1994
American Control Conference, June, 1994.
[2] Abramovitch, D.Y. Rejecting rotational disturbance on small disk drives
using rotational accelerometers, Proceedings of the 1996 IFAC World
Congress, San Francisco, CA, USA, July 1996.
[3] Abramovitch, D.Y. Customizable coherent servo demodulation for disk
drives, IEEE Transactions on Mechatronics, Vol. 3, No. 3, pp. 184-193,
September 1998.
[4] Abramovitch, D.Y., Hurst, T. and Henze, D. An overview of the PES
pareto method for decomposing baseline noise sources in hard disk position error signals, IEEE Transactions on Magnetics, Vol. 34, No. 1, pp.
17-23, January 1998.
[5] Abramovitch, D.Y. and Franklin, G.F. A brief history of disk drive control, IEEE Control Systems Magazine, Vol. 22, No. 3, pp. 28-42, June
2002.
[6] Al-Mamun, A., Lee, T.H. and Low, T.S. Frequency domain identification
of a hard disk driver actuator, Mechatronics, Vol. 12, No. 4, pp. 563-574,
May 2002.
[7] Albrecht, T.R. and Sai, F. Load/Unload technology for disk drives, IEEE
Transactions on Magnetics, Vol. 35, No. 2, pp. 857-862, March 1999.
[8] Anderson, B.D.O. and Moore, J.B. Optimal Control - Linear Quadratic
Method, Prentice Hall, Englewood Clis, New Jersey, USA, 1990.
[9] Aruga, K. et al. High-speed orthogonal power eect actuator for recording at over 10,000 TPI, IEEE Transactions on Magnetics, Vol. 32, No.
3, pp. 1756-1761, May 1996.
[10] Atsumi, T. et al. Vibration servo control design for mechanical resonant
modes of a hard disk drive actuator, JSME, Series C, Vol. 46, No. 3, pp.
819-827, September 2003.
335
2007 by Taylor & Francis Group, LLC

336

BIBLIOGRAPHY

[11] Athans, M. and Falb, P. Optimal Control: An Introduction to the Theory

and Its Applications, McGraw-Hill Book Company, 1986.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[12] Becerra, R.C., Jahns, T.M. and Ehsani, M. Four-quadrant sensorless

brushless ECM drive, IEEE Applied Power Electronics Conference and
Exposition, pp. 202-209, March 1991.
[13] Berger, C.S. and Peduto, D. Robust digital control using multirate input
sampling, International Journal of Control, Vol. 67, No. 5, pp. 813-824,
1997.
[14] Bi, C. and Liu, Z.J. Analysis of unbalanced pulls in hard disk drive
spindle motors using a hybrid method, IEEE Transactions on Magnetics,
Vol. 32, No. 5, pp. 4308-4310, September 1996.
[15] Bi, C. et al. Reduction of acoustic noise in FDB spindle motors by using
drive technology, IEEE Transactions on Magnetics, Vol. 39, No. 2, pp.
800-805, March 2003.
[16] Bi, C., Jiang, Q. and Lin, S. Estimate the eects of unbalanced magnetic
pull of PM synchronous motors, Proceedings of ICEMS-05, Nanjing, P.R.
China, September 2005.
[17] Bi, C., Jiang, Q. and Lin, S. Unbalanced magnetic pull induced by the
EM structure of PM spindle motor, Proceedings of the ICEMS-05, Nanjing, China, September 2005.
[18] Bobro, N. Recent advances in displacement measuring interferometry,
Measurement Science and Technology, Vol. 4, No. 9, pp. 907-926, September 1993.
[19] Bodson, M., Sacks, A. and Khosla, P. Harmonic generation in adaptive feedforward cancellation schemes, IEEE Transactions on Automatic
Control, Vol. 39, No. 9, pp. 1939-1944, September 1994.
[20] Bolognani, S., Tubiana, L. and Zigliotto, M. Extended Kalman filter
tuning in sensorless PMSM drives, IEEE Transactions on Industry Applications, Vol. 39, No. 6, pp. 1741-1747, November - December, 2003.
[21] Brown, D.H. and Sri-Jayantha, S.M. Development of a servowriter for
magnetic disk storage applications, IEEE Transactions on Instrumentation and Measurement, Vol. 39, No. 2, pp. 409-415, April 1990.
[22] Brunnett, D. and Lloyd, L. Partial Servo Write Fill In, US Patent No
US6714376.
[23] Bryson, A.E. and Ho, Y.C. Applied Optimal Control, Halsted Press,
Washington DC, 1975.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

337

[24] Chang, J.K. and Ho, H.T. LQG/LTR frequency loop shaping to improve
TMR budegt, IEEE Transactions on Magnetics, Vol. 35, No. 5, pp. 22802282, September 1999.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[25] Chang, S.H. et al. Finite element analysis of a piezoelectrically actuated

slider for magnetic recording, IEEE Transactions on Magnetics, Vol. 27,
No. 1, pp. 698-704, January 1991.
[26] Chang, Y.B. et al. Prediction of track misregistration due to disk flutter
in hard disk drive, IEEE Transactions on Magnetics, Vol. 38, No. 2, Part:
2, pp. 1441-1446, March 2002.
[27] Chen, B.M. H control and its applications, (Lecture Notes in Control
and Information Sciences), Springer, New York, 1998.
[28] Chen, B.M. et al. An H almost disturbance decoupling robust controller design for a piezoelectric bimorph actuator with hysteresis, IEEE
Transactions on Control Systems Technology, Vol. 7, No. 2, pp. 160-174,
March 1999.
[29] Chen, B.M., Lee, T.H. and Venkataramanan, V. Hard Disk Drive Servo
Systems, Advances in Industrial Control Series, Springer, New York,
2002.
[30] Chen, B.M. et al. Composite nonlinear feedback control for linear systems
with input saturation: theory and an application, IEEE Transactions on
Automatic Control, Vol. 48, No. 3, pp. 427-439, March 2003.
[31] Chen, S.X. et al. Design of fluid bearing spindle motors with controlled
unbalanced magnetic forces, IEEE Transactions on Magnetics, Vol. 33,
No. 5, pp. 2638-2640, September 1997.
[32] Chen, S.X., and Low, T.S. Analysis of spindle motor performance sensitivity to excitation schemes, IEEE Transactions on Magnetics, Vol. 34,
No. 2, pp. 486-488, March 1998.
[33] Chen, Y. et al. Repeatable Runout Compensation using a Learning Algorithm with Scheduled Parameters, U. S. Patent No. 6,437,936, August
2002.
[34] Chew, K.K. and Tomizuka, M. Digital control of repetitive errors in
disk drive systems, Control Systems Magazine, Vol. 10, No. 1, pp. 16-20,
January 1990.
[35] Chou, S.Y. Patterned magnetic nanostructures and quantized magnetic
disks, Proceedings of the IEEE, Vol. 85, No. 4, pp. 652-671, April 1997.
[36] Comstock, R.L. and Workman, M.L. Data storage on rigid disks, in
Magnetic Recording Handbook, Mee, C.D. and Daniel, E.D, editors, pp.
655-771. McGraw Hill, 1990.

2007 by Taylor & Francis Group, LLC

338

BIBLIOGRAPHY

[37] Consoli, A., Scarcella, G. and Testa, A. Industry application of zerospeed sensorless control techniques for PM synchronous motors, IEEE
Transactions on Industry Applications, Vol. 37, No. 2, pp. 513-521,
March - April 2001.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[38] Cribbs, D.F., Ellenberger, M.L. and Hassler, J.W. Jr. Self Servo-writing
Disk Drive and Method, U.S. Patent 5,448,429, 1995.
[39] DAngelo III, C. and Mote Jr. C.D. Aerodynamically excited vibration
and flutter of a thin disk rotating at supercritical speed, Journal of Sound
and Vibration, Vol. 168, No. 1, pp. 15-30, 1993.
[40] Dahl, P.R. Solid friction damping of mechanical vibration, AIAA Journal, Vol. 14, No. 12, pp. 1675-1682, December 1976.
[41] de Oliveira, M.C., Geromel, J.C. and Bernussou, J. An LMI optimization
approach to multiobjective and robust H controller design for discretetime systems, Proceedings of the 38th IEEE Conference on Decision and
Control, Vol. 4, pp. 3611-3616, 1999.
[42] Deeyiengyang, S. and Ono, K. Suppression of resonance amplitude of disk
vibrations by squeeze air bearing plate, IEEE Transactions on Magnetics, Vol. 37, No. 2, Part: 1, pp. 820-825, March 2001.
[43] Deng, Y. and Guo, L. Disk Drive with Self Sero Writing Capability, U.S.
Patent No. 6,798,610, September 2004.
[44] Du, C., Zhang, J. and Guo, G. Vibration analysis and control design
comparison of HDDs using ball bearing and fluid bearing spindles, Proceedings of the American Control Conference, Anchorage, pp. 13781383,
May 810, 2002.
[45] Du, C., Zhang, J. and Guo, G. Vibration modeling and control design
for self servo-track writing, IEEE/ASME Transactions on Mechatronics,
Vol. 10, No. 1, pp. 122-127, February 2005.
[46] Du, C. and Guo, G. Lowering the hump of sensitivity functions for
discrete-time dual-stage systems, IEEE Transactions on Control Systems
Technology, Vol. 13, No. 5, pp. 791-797, September 2005.
[47] Ehrlich, R. and Curran, D. Major HDD TMR sources and projected
scaling with TPI, IEEE Transactions on Magnetics, Vol. 35, No. 21, pp.
885-891, March 1999.
[48] Ehrlich, R., Adler, J. and Hindi, H. Rejecting oscillatory, nonsynchronous mechanical disturbances in hard disk drives, IEEE Transactions on Magnetics, Vol 37, No. 2, pp. 646-650, March 2001.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

339

[49] Ertugrul, N. and Acarnley, P. A new algorithm for sensorless operation of

permanent magnet motors, IEEE Transactions on Industry Applications,
Vol. 30, No. 1, pp. 126-133, January - February, 1994.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[50] Evans, R., Griesbada, J. and Messner, W.C. Piezoelectric microactuator

for dual-stage Control, IEEE Transactions on Magnetics, Vol. 35, No. 2,
pp. 977-982, March 1999.
[51] Fan, L.S. et al. Magnetic recording head positioning at very high track
densities using a microactuator-based two-stage servo system, IEEE
Transactions on Industrial Electronics, Vol. 42, No. 3, pp. 222-233, June
1995.
[52] Fitzgerald, A.E., Kingsley, C. and Umans, S.D. Electric Machinery,
McGraw-Hill Book Company, London, 1992.
[53] Francis, B.A. and Wonham, W.M. The internal model principle for linear
multivariable regulators, Applied Mathematics and Optimization, Vol. 2,
No. 2, pp. 170194, June 1975.
[54] Franklin, G.F., Powell, J.D. and Workman, M.L. Digital Control of Dynamic Systems, Addison-Wesley Publishing Company, Reading, MA, 3rd
edition, 1997.
[55] Freudenberg, J., Middleton, R. and Stefanopoulou, A. A survey of inherent design limitations, Proceedings of the American Control Conference,
Chicago, Illinois, USA, pp. 2987-3001, June 2000.
[56] Fujimoto, H., Hori, Y. and Kawamura, A., Perfect tracking control
based on multirate feedforward control with generalized sampling periods, IEEE Tranactions on Industrial Electronics, Vol. 48, No. 3, pp.
636-644, June 2001.
[57] Fujita, H. et al. A microactuator for head positioning system of hard disk
drives, IEEE Transactions on Magnetics, Vol. 35, No. 2, pp. 1006-1010,
March 1999.
[58] Gahinet, P. and Apkarian, P. Following control of a hard disk drive
by using sampled-data H control, Proceedings of IEEE International
Conference on Control Applications , Hawaii, USA, pp. 182-186, August
1999.
[59] Goh, T.B. et al. Design and implementation of a hard disk drive servo
system using robust and perfect tracking approach, The 38th Conference
on Decision and Control, Phoenix, AZ, USA, December 1999.
[60] Grochowski, E. and Halem, R.D. Technological impact of magnetic hard
disk drives on storage systems, IBM Systems Journal, Vol. 42, No. 2, pp.
338-346, 2003.

2007 by Taylor & Francis Group, LLC

340

BIBLIOGRAPHY

[61] Guo, G. et al. A DSP based hard disk drive servo test stand, IEEE
Transactions on Magnetics, Vol. 34, No. 2, pp. 480-482, March 1998.
[62] Guo, G., Hao, Q. and Low, T.S. A dual-stage control design for high
track per inch hard disk drives, IEEE Transactions on Magnetics, Vol.
37, No. 2, Part 1, pp. 860-865, March 2001.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[63] Guo, G. and Zhang, J. Feedforward control for reducing disk-flutterinduced track misregistration, IEEE Transactions on Magnetics, Vol.
39, No. 4, pp. 2103-2108, July 2003.
[64] Guo, G. et al. Active Control System and Method for Reducing Disk Flutter induced Track Misregistrations, US patent 6,888,694, May 3, 2005.
[65] Guo, L., Martin, D. and Brunnett, D. Dual-stage actuator servo control
for high density disk drives, Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 132-137,
September 1999.
[66] Guo, L. and Chen, Y. Disk flutter and its impact on HDD servo performance, IEEE Transactions on Magnetics, Vol. 37, No. 2, pp. 866-870,
March 2001.
[67] Guo, W. et al. Dual stage actuators for high design rotating memory
devices, IEEE Transactions on Magnetics, Vol. 34, No. 2, pp. 450-455,
March 1998.
[68] Guo, W. et al. Linear quadratic optimal dual-stage servo control systems
for hard disk drives, Proceedings of the 24th Annual Conference of the
IEEE Industrial Electronics Society, IECON98, Aachen, Germany, Vol.
3, pp. 1405-1410, August 31-September 4, 1998.
[69] Hamdi, E.S. Design of Small Electrical Machines, John Willey and Sons,
1994.
[70] Hanselman, D.C. Brushless Permanent Magnet Motor Design, McGrawHill, 1994.
[71] Hanselmann, H. and Mortix, W. High-bandwidth control of the headpositioning mechanism in a winchester disk drive, IEEE Control Systems
Magazine, Vol. 7, No. 5, pp. 15-19, October 1987.
[72] Hao, Q. et al. A gradient based track-following controller optimization
for hard disk drive, IEEE Transactions on Industrial Electronics, Vol.
50, No. 1, pp. 108-115, February 2003.
[73] Hara, S. et al. Repetitive control systems: a new type servo system for
periodic exogenous signals, IEEE Transactions on Automatic Control,
Vol. 33, No. 7, pp. 659668, July 1988.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

341

[74] Harker, J.M. et al. A quarter century of disk file innovation IBM Journal
of Research and Development, Vol. 25, No. 5, pp. 677-689, September
1981.
[75] Harnoy, A. Bearing Design in Machinery, Marcel Dekker, Inc, 2002.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[76] Heath, J. Simple approach to improve actuator bandwidth, Data Storage,

pp. 48-60, September 2000.
[77] Hendershot, J.R. and Miller, T.J.E. Design of Brushless Permanent Magnet Motors, Magna Physics Publishing and Oxford University Press,
1994.
[78] Herrmann G. et al. Practical implementation of a novel anti-windup
scheme in a HDD-dual-stage servo-system, IEEE/ASME Transactions
on Mechatronics, Vol. 9, No. 3, pp. 580-592, September 2004.
[79] Heo, B. and Shen, I.Y. Taming disk and spindle rocking by damped laminated disks - an experimental study, IEEE Transactions on Magnetics,
Vol. 35, No. 5, pp. 2304-2306, September 1999.
[80] Hindmarsh, J. Electrical Machines and Their Applications, Pergamon
Press, 1984.
[81] Hipwell, R. et al. MEMS enhance hard disk drive performance,
http://www.waferprocessing.unaxis.com/en/download/mems.pdf.
[82] Ho, H.T. Fast servo bang-bang seek control, IEEE Transactions on Magnetics, Vol. 33, No. 6, pp. 4522-4527, November 1997.
[83] Ho, H.T. Noise impact on servo TMR, Proceedings of the American Control Conference, New Mexico, Vol. 5, pp. 2906-2909, June 1997.
[84] Horowitz, R. and Li, B. Adaptive tracking-following servos for disk file
actuators, IEEE Transactions on Magnetics, Vol. 32, No. 3, pp. 17791786, 1996.
[85] Horsley, D.A. et al. Design and fabrication of an angular microactuator
for magnetic disk drives, Journal of Microelectromechanical Systems, Vol.
7, No. 2, pp. 141-148, June 1998.
[86] Hredzak, B., Guo, G. and Zhang, J. Investigation of the eect of hard disk
drive unbalance on repeatable and non-repetable runout, Proceedings of
IEEE International Conference on Power Electronics & Drive Systems,
PEDS, pp. 1359-1363, Nov. 17-20, 2003.
[87] Hredzak, B. and Guo, G. New passive balancing algorithm for high density hard disk drives, Journal of Mechanical Engineering Science, Proceedings of Institution of Mechanical Engineers of UK, Vol. 218, No. 4,
pp. 401-410, April 2004.

2007 by Taylor & Francis Group, LLC

342

BIBLIOGRAPHY

[88] Hu, X. et al. A TMR oriented optimization of suspension based milliactuators, Journal of Information Storage and Processing Systems, Vol.
2, No. 3, pp. 163-168, February 2000.
[89] Huang, Y. et al. Design and analysis of a high bandwidth disk drive servo
system using an instrumented suspension, IEEE/ASME Transactions on
Mechatronics, Vol. 4, No. 2, pp. 196-206, June 1999.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[90] Huang, F.Y. et al. Active damping in HDD actuator, IEEE Transactions
on Magnetics, Vol. 37, No. 2, Part: 1, pp. 847-849, March 2001.
[91] Humphrey, J. et al. Unobstructed and obstructed rotating disk flows:
A summary review relevant to information storage system, in Bhusan,
B., editor Advances in Information Storage Systems, pp. 79-110. ASME
Press, NY, 1991.
[92] Hwang, C.C., Cheng, S.P. and Chang, C.M. Design of high-performance
spindle motors with concentrated windings, IEEE Transactions on Magnetics, Vol. 41, No. 2, pp. 971-973, February 2005.
[93] Iizuka, K. et al. Microcomputer control for sensorless brushless motor,
IEEE Transaction on Industry Applications, Vol. IA-21, No. 4, pp. 595601, May-June 1985.
[94] Inoue, T. et al. Improvement of RRO using hybrid-type STW for hard
disk drives, IEEE Transactions on Magnetics, Vol. 37, No. 2, pp. 969-973,
March 2001.
[95] Ioannou, P.A., Xu, H. and Fidan, B., Servo control design for a hard
disk drive based on estimated head position at high sampling rates, Proceedings of the American Control Conference, 2003, Vol 1, pp. 731-736,
June 4-6, 2003.
[96] Ioannou, P.A., Kosmatopoulos, E.B. and Despain, A.M., Position error
signal estimation at high sampling rates using data and servo sector
measurements, IEEE Transactions on Control Systems Technology, Vol.
11, No. 3, pp. 325-334, May 2003.
[97] Ishida, T. et al. Printed media technology for an eective and inexpensive
servo track writing of HDDs, IEEE Transactions on Magnetics, Vol. 37,
No. 4, pp. 1875-1877, July 2001.
[98] Ishida, T. et al. Magnetic printing technology - application to HDD,
IEEE Transactions on Magnetics, Vol. 39, No. 2, Part 1, pp. 628-632,
March 2003.
[99] Ishikawa, J. and Tomizuka, M. Pivot friction compensation using an accelerometer and a disturbance observer for hard disk drives, IEEE-ASME
Transactions on Mechatronics, Vol. 3, No. 3, pp. 194-201, September
1998.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

343

[100] Jahns, T.M., Becerra, R.C. and Ehsani, M. Integrated current regulation
for a brushless ECM drive, IEEE Transactions on Power Electronics, Vol.
6, No. 1, pp. 118-126, January 1991.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[101] Jang, J.S.R, Sun, C.T. and Mizutani, E. Neuro-fuzzy and Soft Computing, Prentice Hall, Reading, NJ, 1997.
[102] Jiang, Q., Bi, C. and Huang, R.Y. A new phase-delay free method to
detect back EMF zero-crossing points, Proceedings of the Asia Pacific
Magnetic Recording Conference APMRC04, Seoul, Korea, August, 2004.
[103] Johansson, R. System Modeling & Identification, Prentice Hall Information and System Sciences Series, editor - Kailath, T., 1992.
[104] Johnson, J.P., Ehsani, M. and Guzelgunler. Y. Review of sensorless methods for brushless DC, Conference Record of the 1999 IEEE IAS Annual
Meeting, Vol. 1, pp. 143 - 150, October 1999.
[105] Kalman, R.E. and Bertram, J.E. A unified approach to the theory of
sampling systems, Journal of Franklin Institute, Vol. 267, pp. 405-436,
May, 1959.
[106] Karaman, M. and Messner, W.C. Robust dual stage HDD track follow
control systems design for hand-o shaping, Digest of APMRC 2002,
CA5, 2002.
[107] Kempf, C. et al. Comparison of four discrete-time repetitive control algorithms, Proceedings of the American Control Conference, pp. 2700-2704,
1992.
[108] Kenjo, T. and Sugawara, A. Stepping Motors and Their Microprocessor
Control, Oxford University Press, 2nd Edition, 1994.
[109] Kenjo, T. and Nagamori, S. Brushless Motors, Sogo Electronics Press,
2003.
[110] Kim, Y.H., OH, D.H. and Ho, S.L. PES reduction in magnetic disk
drives via a Low-TMR HGA and servo loop shaping, IEEE Transactions
on Magnetics, Vol. 41, No. 2, pp. 779-783, February 2005.
[111] Klaasen, E. et al. Silicon fusion bonding and deep reactive ion etching: a
new technology for microstructures, Sensors and Actuators: A, Vol. 52,
No. 1-3, pp. 132-139, 1996.
[112] Kobayashi, M. et al. Multi-sensing servo with carriage-acceleration feedback for magnetic disk drives, Proceedings of the American Control Conference, 1998, Vol. 5, pp. 3038-3042, 1998.

2007 by Taylor & Francis Group, LLC

344

BIBLIOGRAPHY

[113] Kobayashi, M. et al. High-bandwidth servo control designs for magnetic

disk drives, Proceedings of IEEE/ASME International Conference on
Advanced Intelligent Mechatronics 2001, Vol. 2, pp. 1124 -1129, July
2001.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[114] Kobayashi, M., Nakagawa, S. and Nakamura, S. A phase-stabilized servo

elontroller for dual-stage actuators in hard disk drives, IEEE Transactions on Magnetics, Vol. 39, No. 2, pp. 844-850, Part 1, March 2003.
[115] Kollar, I. Frequency domain system identification toolbox for use with
Matlab, The Mathworks, 1994.
[116] Kranc, G.M. Input-Output analysis of multirate feedback systems, IRE
Transactions on Automatic Control, Vol. 2, pp. 21-28, November 1957.
[117] Kulkarni, A.B. and Ehsani, M. A novel position sensor elimination technique for the interior permanent-magnet synchronous motor drive, IEEE
Transactions on Industry Applications, Vol. 28, No. 1, pp. 144-150, January - February, 1992.
[118] Kurita, M. et al. An active-head slider with a piezoelectric actuator for
controlling flying height, IEEE Transactions on Magnetics, Vol. 38, No.
5, pp. 2102-2104, Part 1, September 2002.
[119] Kurita, M. and Suzuki, K. Flying-Height adjustment technologies of magnetic head sliders, IEEE Transactions on Magnetics, Vol. 40, No. 1, pp.
332-336, Part 2, January 2004.
[120] Lam, B.H., Panda, S.K. and Xu, J.X. Reduction of periodic speed ripples
in PM synchronous motors using iterative learning control, Proceedings of
the IEEE Industrial Electronics Confrence IECON-00, Vol. 2, pp. 14061411, October 2000.
[121] Lee, H. Controller optimization for minimum position error signal of hard
disk drives, Proceedings of American Control Conference, pp. 3081-3085,
June 2000.
[122] Lee, L.C., Zheng, J. and Guo, G. In-phase optimization of hard disk
drive actuator using genetic algorithms, submitted to American Control
Conference 2006.
[123] Lee, S.H., Kim, Y.H. and Chung, C.C. Dual-stage actuator disk drives for
improved servo performance: track follow, track seek, and settle, IEEE
Transactions on Magnetics, Vol. 37, No. 4, Part: 1, pp. 1887-1890, July,
2001.
[124] Li, Y. and Tomizuka, M. Two-degree-of-freedom control with robust feedback control for hard disk servo systems, IEEE/ASME Transactions on
Mechatronics, Vol. 4, No. 1, pp. 17-24, March 1999.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

345

[125] Li, Y. and Horowitz, R. Mechatronics of electrostatic microactuators for

computer disk drive dual-stage servo systems, IEEE/ASME Transactions
on Mechatronics, Vol. 6, No. 2, pp. 111-121, June 2001.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[126] Li, Y. and Horowitz, R. Active suspension control with dual stage actuators in hard disk drives, Proceedings of the 2001 American Control
Conference, pp. 2786-2791, Vol. 4, June 2001.
[127] Li, Y., Guo, G. and Wang, Y. Nonlinear control for fast settling in HDDs,
IEEE Transactions on Magnetics, Vol. 40, No. 4, pp. 2086-2088, July
2004.
[128] Li, Z.M. et al. Optimal track-following design for toward highest tracks
per inch in hard disk drives, Journal of Information Storage and Processing System, Vol. 3, pp. 27-42, 2001.
[129] Lin, R.L., Hu, M.T., Chen, S.C., and Lee, C.Y. Using phase-current
sensing circuit as the position sensor for brushless DC motors without
shaft position sensor, Proceedings of the IEEE Conference on Industrial
Electronic, IECON-89, pp. 215-218, November 1989.
[130] Lin, S. et al. Eect of drive modes on the acoustic noise of fluid dynamic
bearing spindle motors, IEEE Transactions on Magnetics, Vol. 39, No.
5, pp. 3277 - 3279, September 2003.
[131] Lin, S. Advanced Control of micro PMSM and its Application in Hard
Disk Drive, PhD Thesis, National University of Singapore, 2005.
[132] Liu, B. and Yuan, Z.M. In-situ characterization of head-disk clearance, in
Proceedings of ASME/Tribology Division Symposium on Interface Tribology Towards 100 Gb/in2 and Beyond, pp. 51-58, Seattle, USA, October
1-4, 2000.
[133] Liu, Z.J., Bi, C. and Low, T.S. Analysis of iron loss in hard disk drive
spindle motors, IEEE Transactions On Magnetics, Vol. 33, No. 5, pp.
4089-4091, September 1997.
[134] Lou, Y. et al. Dual-stage servo with on-slider piezoelectric microactuator
for hard disk drives, IEEE Transactions on Magnetics, Vol. 38, No. 5,
pp. 2183-2185, September 2002,
[135] Low, T.S., Chen, S.X. and Gao, X. Robust torque optimization for BLDC
spindle motors, IEEE Transactions on Industrial Electronics, Vol. 48,
No. 3, pp. 656-663, June 2001.
[136] Lu, Y. et al. A MEMS-based electrostatic microactuator for hard disk
drives, submitted for publication.

2007 by Taylor & Francis Group, LLC

346

BIBLIOGRAPHY

[137] Lucibello, P. Comments on Nonlinear repetitive control, IEEE Transactions on Automatic Control, Vol. 48, No. 8, pp. 1470-1471, August
2003.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[138] Mahalik, N.P. Mechatronics - Principles, Concepts and Applications,

Tata McGraw Hill, 2003.
[139] Matsui, N. Sensorless PM brushless DC motor drives, IEEE Transaction
on Industrial Electronics, Vol. 43, No. 2, pp. 300-308, January/February
1996.
[140] McAllister, J.S. Characterization of disk vibrations on aluminum and
alternate substrates, IEEE Transactions on Magnetics, Vol. 33, No. 1,
pp. 968973, January 1997.
[141] McAllister, J.S. Disk flutter: causes and potential cures, Data Storage,
pp. 29-34, May 1997.
[142] Mee, C.D. and Daniel, E.D. (editors), Magnetic Recording, Volume I and
Volume II, McGraw-Hill, 1987.
[143] Messner, W. et al. A new adaptive learning rule, IEEE Transactions on
Automatic Control, Vol. 36, No. 2, pp. 188-197, February 1991.
[144] Mohtadi, C. Bodes integral theorem for discrete-time systems, IEE Proceedings - Control Theory and Applications, Vol. 137, No. 2, pp. 57-66,
March 1990.
[145] Moon, J.H., Lee, M.N. and Chung M.J. Repetitive control for the trackfollowing servo system of an optical disk drive, IEEE Transactions on
Control Systems Technology, Vol. 6, No. 5, pp. 663-670, September 1998.
[146] Moreira, J.C. Indirect sensing for rotor flux position of permanent magnet AC motors operation in a wide speed range, Conference Record of
IEEE IAS Annual Meeting, pp. 401-407, October 1994.
[147] Morrison, C.I. and Stengel, R.F. Robust control system design using
random search and genetic algorithm, IEEE Transactions on Automatic
Control, Vol. 42, No. 6, pp. 835-839, 1997.
[148] Mou, J.Q. Design, fabrication and characterization of single crystal silicon microactuator for hard disk drives, Journal of Micromechanism and
Microengineering, Vol. 14, pp. 1608-1613, 2004.
[149] Niu, Y. et al. A PZT micro-actuated suspension for high TPI hard disk
servo systems, IEEE Transactions on Magnetics, Vol. 36, No. 5, pp.
2241-2243, September 2000.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

347

[150] Noda, K. et al. Novel NRRO minimization algorithm for an ultra-highdensity servotrack writer, IEEE Transactions on Magnetics, Vol. 33, No.
5, pp. 2626-2628, September 1997.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[151] Noyes, T. and Dickinson, W.E. The random access memory accounting
machine II - The Magnetic-Disk Random-Access Memory, IBM Journal,
pp. 72-75, January 1957.
[152] Ogata, K. Modern control engineering, Prentice Hall, Upper Saddle
River, N.J., 4th edition, 2002.
[153] Ogasawara, S. and Akagi, H. An approach to position sensorless drive
for brushless DC motors, IEEE Transactions on Industry Applications,
Vol. 27, No. 5, pp. 928-933, September-October, 1991.
[154] Ong, E.H. et al. A low-turbulence high-bandwidth actuator for 3.5-inch
hard disk drives, IEEE Transactions on Magnetics, Vol. 36, No. 5, pp.
2235-2237, September 2000.
[155] Ono, H. Architecture and performance of the ESPER-2 hard-disk drive
servo writer, IBM Journal of Research and Development, Vol. 37, No. 1,
pp. 311, 1993.
[156] Onuki, Y. and Ishioka, H. Compensation for repeatable tracking errors in
hard drives using discrete-time repetitive controllers, IEEE Transactions
on Mechatronics, pp. 132-136, 2001.
[157] Oswald, R.K. Design of a disk file head positioning servo, IBM Journal
of Research and Development, Vol. 18, pp. 506-512, 1974.
[158] Pang, C.K. et al. Nano-position sensing and control in HDD dual-stage
servo, IEEE Conference on Control Applications, Taipei, ROC, Sept
2004.
[159] Pang, C.K. et al. Suppressing sensitivity hump in HDD dual-stage servo
systems, Microsystem Technology, Vol. 11, No. 8-10, pp. 653-662, August
2005.
[160] Pang, C.K. et al. NRRO rejection using online iterative control for high
density storage, submitted for publication.
[161] Pannu, S. and Horowitz, R. Adaptive accelerometer feedforward servo
for disk drives, Proceedings of the 36th IEEE Conference on Decision
and Control, Vol. 5, pp. 4216-4218, 1997.
[162] Paskota, M. et al. Optimal simultaneous stabilization of linear singleinput systems via linear state feedback control, International Journal of
Control, Vol. 60, No. 4, pp. 483-498, 1994.

2007 by Taylor & Francis Group, LLC

348

BIBLIOGRAPHY

[163] Pintelon, R. et al. Parametric identification of transfer function in the

frequency domain - a survey, IEEE Transactions on Automatic Control,
Vol. 39, No. 11, pp. 2245-2260, November 1994.
[164] Reed, D.E. et al. Digital servo demodulation in a digital read channel,
IEEE Transactions on Magnetics, Vol. 34, No. 1, Part 1, pp. 13-16,
January 1998.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[165] Ross, C.A. Patterned magnetic recording media, Annual Review on Material Research, Vol. 31, pp. 203-235, 2001.
[166] Saberi, A., Sannuti, P. and Chen, B.M. H2 Optimal Control, Prentice
Hall, 1995.
[167] Saberi, A., Chen, B.M. and Sannuti, P. Loop Transfer Recovery: Analysis
and Design, Springer, 1993.
[168] Sacks, A., Bodson, M. and Messner, W. Advanced methods for repeatable runout compensation, IEEE Transactions on Magnetics, Vol. 31,
No. 2, pp. 1031-1037, March 1995.
[169] Sasaki, M. et al. Track-following control of a dual-stage hard disk drive
using a neuro-control system, Engineering Application of Artificial Intelligence, Vol. 11, pp. 707-716, 1998.
[170] Schroeck, S.J. and Messner, W.C. On controller design for linear timeinvariant dual-input single-output systems, Proceedings of American
Control Conference, Vol. 6, pp. 4122-4126, San Diego, 1999.
[171] Schultz, M.D. et al. A self-servowrite clocking process, IEEE Transactions on Magnetics, Vol. 37, No. 4, pp. 1878-1880, July 2001.
[172] Schoukens, J. and Pintelon, R. Identification of linear systems: A practical guide to accurate modelling, Pergamon Press, London, 1991.
[173] Semba, T. et al. Dual-stage servo controller for HDD using MEMS actuator, IEEE Transactions on Magnetics, Vol. 35, No. 5, pp. 2271-2273,
September 1999.
[174] Shao, J., Nolan, D. and Hopkins, T. A novel direct back EMF detection
for sensorless brushless DC (BLDC) motor drives, APEC 2002, Vol. 1,
pp. 33-37, 10-14 March 2002.
[175] Shen, I.Y. Recent vibration issues in computer hard disk drives, Journal
of Magnetism and Magnetic Materials, Vol. 209, No. 1, pp. 6-9, February
2000.
[176] Singer, N.C. and Seering, W.P. Preshaping command input to reduce
system vibration, Journal of Dynamic Systems, Measurement and Control, Vol. 112, No. 1, pp. 76-82, March 1990.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

349

[177] Singh, B. et al. Performance analysis of fuzzy logic controlled permanent

magnet synchronous motor drive, Proceedings of the IEEE Conference
on Industrial Electronics, IECON-95, pp. 399 - 405, November 1995.
[178] Sivadasan, K.K. and Guo, G. Head suspension assembly with piezoelectric beam micro actuator, US Patent No. 6,522,050, February 2003.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[179] Soeno, Y. et al. Piezoelectric piggy-back microatuator for hard disk drive,
IEEE Transactions on Magnetics, Vol. 35, No. 2, Part 1, pp. 983-987,
March 1999.
[180] Solsona, J., Valla, M.I. and Muravchik, C. A nonlinear reduced order
observer for permanent magnet synchronous motors, IEEE Transactions
on Industrial Electronics, Vol. 43, No. 4, pp. 492-497, August 1996.
[181] Sommargren, G.E. A new laser measurement system for precision metrology, Precision Engineering, Vol. 9, No. 4, pp. 179-184, 1987.
[182] Song, D., Schnur, D. and Boutaghou, Z.E. Discharge mechanism for
electrostatic fly control, IEEE Transactions on Magnetics, Vol. 40, No.
4, pp. 3162-3164, Part 2, July 2004.
[183] Sri-Jayantha, S.M. et al. T rueT rack T M servo technology for high TPI
disk drives, IEEE Transactions on Magnetics, Vol. 37, No. 2, Part 1, pp.
871-876, March 2001.
[184] Sri-Jayantha, S.M. et al. Repeatable runout free servo architecture in
direct access storage device, US patent No. 6,097,565, August 2000.
[185] Srikrishna, P. and Kasetty, K. Predicting track misregistration (TMR)
from disk vibration of alternate substrate materials, IEEE Transactions
Magnetics, Vol. 36, No. 1, pp. 171-176, January 2000.
[186] Stevens, L.D. The evolution of magnetic storage, IBM Journal of Research and Development, Vol. 25, No. 5, pp. 663-675, September 1981.
[187] Storagereview, Spindle Speed,
http://www.storagereview.com/guide2000/ref/hdd/.
[188] Suzuki, K. et al. An active head slider using a piezoelectric cantilever for
in situ flying-height control, IEEE Transactions on Magnetics, Vol. 39,
No. 2, pp. 826-831, Part 1, March 2003.
[189] Suzuki, K. and Kurita, M. A MEMS-based active-head slider for flying
height control in magnetic recording, JSME International Journal, Series
B - Fluids and Thermal Engineering, Vol. 47, No. 3, pp. 453-458, August
2004.
[190] Swearingen, P.A. and Shepherd, S.H. System for self-servowriting a disk
drive, US patent No. 5,668,679, September 1997.

2007 by Taylor & Francis Group, LLC

350

BIBLIOGRAPHY

[191] Takaishi, K. HDD servo technology for media level servo track writing,
IEEE Transactions on Magnetics, Vol. 39, No. 2, Part 1, pp. 851-856,
March 2003.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[192] Tagawa, N. et al. Development of novel PZT thin films for active sliders
based on head load/unload on demand systems, Microsystem Technology,
Vol. 8, No. 2-3, pp. 133-138, May 2002.
[193] Tagawa, N., Kitamtra, K. and Mori, A. Design and fabrication of MEMSbased active slider using double-layered composite PZT thin film in hard
disk drives, IEEE Transactions on Magnetics, Vol. 39, No. 2, pp. 926-931,
Part 1, March 2003.
[194] Tang, W.C., Lim, M.G. and Howe, R.T. Electrostatic comb drive levitation and control method, Journal of Micro-Electromechanical Systems,
Vol. 1, No. 4, pp. 170178, December 1992.
[195] Tang, Y., Chen, S.X. and Low, T.S. Micro elecctrostatic actuators in
dual-stage disk drives with high track density, IEEE Transactions on
Magnetics, Vol. 32, No. 5, pp. 3851-3853, September 1996.
[196] Tokuyama, M. et al. Development of a Phi-shaped actuated suspension
for 100-kTPI hard disk drives, IEEE Transactions on Magnetics, Vol.
37, No. 4, Part 1, pp. 1884-1886, July 2001.
[197] Toshiyoshi, H., Mita, M. and Fujita, H. A MEMS piggyback actuator for
hard-disk drives, Journal of Micro-Electromechanical Systems, Vol. 11,
No. 6, pp. 648-654, December 2002.
[198] Uematsu, Y., Fukushi, M. and Taniguchi, K. Development of the pushpin
free STW, IEEE Transactions on Magnetics, Vol. 37, No. 2, Part 1, pp.
964-968, March 2001.
[199] Vidyasagar, M. Statistical learning theory and randomized algorithms
for control, IEEE Control Systems Magazine, Vol. 18, No. 6, pp. 69-85,
December 1998.
[200] Wachenschwanz, D. et al. Design of a manufacturable discrete track
recording medium, IEEE Transactions on Magnetics, Vol. 41, No. 2,
pp. 670-675, February 2005.
[201] Wang, F. et al. Disk drive pivot nonlinearity modeling part ii: Time
domain, in Proceedings of the 1994 American Control Conference, pp.
2604-2607, June 1994.
[202] Wang, S.X. and Taratorin, A.M. Magnetic Information Storage Technology, McGraw Hill, 1999.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

351

[203] Wang, Y., Tan, Y.L. and Guo, G. Robust nonlinear co-ordinated excitation and TCSC control for power systems, IEE Proceedings - Generation,
Transmission and Distribution, Vol. 149, No. 3, pp. 367-372, May 2002.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[204] Weaver, P.A. and Ehrlich, R. The use of multirate notch filters in embedded servo disk drives, in Proceedings of American Control Conference,
pp. 4156-4160, June 1993.
[205] Weerasooriya, S. and Phan, D.T. Discrete-time LQG/LTR design and
modeling of a disk drive actuator tracking servo system, IEEE Transactions on Industrial Electronics, Vol. 42, No. 3, pp. 240-247, June 1995.
[206] Weerasooriya, S., Zhang, J.L. and Low, T.S. Ecient implementation of
adaptive feedforward runout cancellation in a disk drive, IEEE Transactions on Magnetics, Vol. 32, No. 5, pp. 3920-3922, September 1996.
[207] White, M. and Lu, W. Hard disk drive bandwidth limitations due to sampling frequency and computational delay, Proceedings of IEEE/ASME
International Conference on Advanced Intelligent Mechatronics, pp. 120125, 1999.
[208] Wong, W.E., et al., Detection of track misregistration within user data
channel, US Patent No. 7,009,805 B2, March 2006.
[209] Workman, M.L. Adaptive Proximate Time Optimal Servomechanism,
Stanford University, PhD thesis, 1987.
[210] Workman, M.L., Kosut, R.L. and Franklin, G.F. Adaptive proximate
time-optimal control: Continuous time case, in Proceedings of the American Control Conference, pp. 589-594, 1987.
[211] Workman, M.L., Kosut, R.L., and Franklin, G.F. Adaptive proximate
time-optimal control: Discrete time case, in Proceedings of the Conference on Decision and Control, pp. 1548-1553, December 1987.
[212] Wu, D., Guo, G. and Chong, T.C. Adaptive compensation of microactuator resonance in hard disk drives, IEEE Transactions on Magnetics,
Vol. 36, No. 5, pp. 2247-2250, September 2000.
[213] Wu, D., Guo, G. and Chong, T.C. Mid-frequency disturbance suppression via micro-actuator in dual-stage HDDs, IEEE Transactions on Magnetics, Vol. 38, No. 5, pp. 2189-2191, Part 1, September 2002.
[214] Xu, J.X., Lee, T.H. and Zhang, H. Comparative studies on repeatable
runout compensation using iterative learning control, in Proceedings of
the American Control Conference, pp. 2834-2839, 2001.
[215] Yada, H. et al. High areal density recording using an MR/Inductive head
and pre-embossed rigid magnetic disk IEEE Transactions on Magnetics,
Vol. 30, No. 2, pp. 404-409, March 1994.

2007 by Taylor & Francis Group, LLC

352

BIBLIOGRAPHY

[216] Yada, H. and Takeda, T. A coherent maximum likelihood head position

estimator for PERM disk drives, IEEE Transactions on Magnetics, Vol.
32, No. 3, Part 2, pp. 1867-1872, May 1996.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[217] Yang, Q. et al. Study on the influence of friction in an automatic ball

balancing system, Journal of Sound and Vibration, Vol. 285, No. 1-2, pp.
73-99, July 2005.
[218] Yamaguchi, T. et al. Mode switching control design with initial value
compensation and its application to head positioning control on magnetic
disk drives, IEEE Transactions on Industrial Electronics, Vol. 43, No. 1,
pp. 65-73, February 1996.
[219] Yamaguchi, T., Numasato, H. and and Hirai, H. A mode-switching control for motion control and its application to disk drives: design of optimal mode-switching conditions, IEEE/ASME Transactions on Mechatronics, Vol. 3, No. 3, pp. 202-209, September 1998.
[220] Yamaguchi, T. et al. Servo bandwidth and positioning accuracy design
for high track density disk drives, IEEE Transactions on Magnetics, Vol.
36, No. 5, pp. 2216-2218, September 2000.
[221] Yarmchuk, E. J. et al. Radial self-propagation pattern generation for disk
file servo writing, U.S. Patent 5,907,447, 1999.
[222] Ye, H. et al. Radial error propagation issues in self servo track writing
technology, IEEE Transaction on Magnetics, Vol. 38, No. 5, pp. 21802182, September 2002.
[223] Yeack-Scranton, C.E. et al. An active slider for practical contact recording, IEEE Transactions on Magnetics, Vol. 26, No. 5, pp. 2478-2483,
September 1990.
[224] Zhang, J.L. et al. Modified AFC runout cancellation and its influence
on track following, Proceedings of the 23rd International Conference of
the IEEE Industrial Electronics Society, IECON97, Vol. 1, No. 9-14, pp.
35-40, November 1997.
[225] Zhang, J.L. et al. Modified adaptive feedforward runout compensation
for dual stage servo system, IEEE Transactions on Magnetics, Vol. 36,
Vol. 5, Part 1, pp. 35813584, September 2000.
[226] Zhang, J.L. et al. 7nm PES 3 Sigma @ March 2005, Project Report,
Data Storage Institute, May 2005.
[227] Zhang, Q.D. et al. Design of high-speed magnetic fluid bearing spindle
motor, IEEE Transactions on Magnetics, Vol. 37, No. 4, pp. 2647-2650,
July 2001.

2007 by Taylor & Francis Group, LLC

BIBLIOGRAPHY

353

[228] Zhang, X.J. et al. A new method to minimize the commutation torque
ripple in trapezoidal BLDC motor with sensorless drive, Conference Proceedings of PIEMC, Vol. 2, pp. 607-611, August 2000.

Downloaded by [National University of Singapore] at 05:12 18 May 2015

[229] Zheng, J., Guo, G. and Wang, Y. Identification and decentralized control of a dual-actuator hard disk drive system, IEEE Transactions on
Magnetics, Vol. 41, No. 9, pp. 2515-2521, September 2005.
[230] Zheng, J., Guo, G. and Wang, Y. Nonlinear PID control of linear plants
for improved disturbance rejection, Proceedings of the 16th IFAC World
Congress, Czech Republic, 4-8 July, 2005.
[231] Zhu, Z.Q. and Howe, D. Electromagnetic noise radiated by brushless permanent magnet DC drives, The 6th International Conference on Electrical Machines and Drives, pp. 606-611, September 1993.

2007 by Taylor & Francis Group, LLC