Abstract
This paper addresses design challenges associated with a servo system of a Hard Disc Drive (HDD). The recently developed Robust Integral of Sign Error (RISE) approach is proposed to control the Read/Write (R/W) head tip of the HDD. Such a technique, combined with a feedforward Neural Network (NN) control term, is not only able to meet the different imposed constraints on the system, but also guaranty the asymptotic stability of the overall closed-loop system. To the best knowledge of the authors, the proposed controller, applied at the low frequency region of a HDD, has never been conducted before on such a system. A comparative study between the RISE-NN controller and the classical Proportional Integral Derivative (PID) is performed under various operating conditions ranging from nominal case without external disturbances to more complex cases with disturbances and parametric uncertainties. The main objective of this study is to highlight the effectiveness of RISE-NN control approach in solving the track following problem in HDD.