Robustness Analysis of Enhanced Adaptive Feed-Forward Cancellation

Bulletin of the JSME
Vol.8, No.1, 2014
Journal of Advanced Mechanical Design, Systems, and Manufacturing
Robustness analysis of enhanced adaptive feed-forward

cancellation
Shota YABUI , Itsuro KAJIWARA and Ryohei OKITA
Division of Human Mechanical Systems and Design, Hokkaido University

N13W8, Kita-ku, Sapporo, Hokkaido 060-8628, Japan
E-mail: shota.yabui@gmail.com
Received 31 October 2013
Abstract
This paper presents a robustness analysis of an enhanced adaptive feed-forward cancellation (AFC) function for
a control system. The AFC is known as an adaptive control method, and the adaptive algorithm can estimate
a periodic disturbance. In a previous study, an enhanced AFC was developed to compensate for non-periodic
disturbances. The eectiveness of the enhanced AFC there was shown with only simulation results. In this study,
the stable robustness of the enhanced AFC is analyzed for a one degree of freedom system. When the enhanced
AFC is implemented to around a resonant frequency, the variations in the mechanical characteristics may cause
instabilities in the control system, because the performance of the enhanced AFC depends on the phase condition
of the mechanical characteristics. The experimental results show that variations in the resonant frequency may
cause oscillation when the enhanced AFC design does not consider this kind of variation. The study conrms that
the enhanced AFC must be designed considering variations in the resonant frequency.
Key words : Disturbance compensation, Adaptive feed-forward cancellation, Robustness, Vibration control
Introduction
Disturbance compensation is critical in control systems. For example, increasing the recording density of a hard
disk drive (HDD) requires compensation for disturbances in the head positioning control system and producability of the
XY-stage depends on the positioning accuracy of the control system. The positioning accuracy is negatively aected by
disturbances to the control system. Therefore, a control system must be able to compensate for disturbances, and a number
of disturbance compensation methods have been reported in previous studies.
Adaptive feed-forward cancellation (AFC) is one such disturbance compensation method (Bodson et al. 1992; Sacks
et al. 1993). Here the adaptive algorithm adjusts the coecients of the AFC to compensate for disturbances. The AFC has
also been developed to compensate for periodic disturbances (Wu and Tomizuka, 2006). Further, the range of applications
of AFC has also been expanded by a feature to compensate for non-periodic disturbances called an enhanced AFC (Yabui
et al. 2013). This enhanced AFC was applied to compensate for disturbances in an HDD. The AFC involves a number of
optional parameters that are decided by the design, and the performance of the AFC depends on these optional parameters.
In previous studies, an optimal design method for AFC was also introduced (Okuyama et al. 2011; Yabui et al. 2012). The
performance of the AFC has been optimized by using loop shaping techniques based on a vector locus in the frequency
domain (Messner and Bodson, 1994; Atsumi et al. 2007; Messner, 2008). The eectiveness of this approach was veried
in simulations and experimental results. However, the performance of the disturbance compensation is evaluated in the
control systems, and there are no reports of study of the stable robustness.
Paper No.13-00267
[DOI: 10.1299/jamdsm.2014jamdsm0002]
2014 The Japan Society of Mechanical Engineers
Yabui, Kajiwara and Okita, Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol.8, No.1 (2014)
) kT(soc
CFA
) +
) k (p
z/1
) kT (nis
+ +
z/1
) k( d
) +
) k (q
kT(soc
kT (nis
) k( u
+ +
+ +
) k( e
Fig. 1
Control arrangement with AFC
In this paper, an analysis of stable robustness of the enhanced AFC is introduced. The analysis is conducted for a one
degree of freedom system, as a case study. The robustness performance was evaluated with the sensitivity function gain
and vector locus. As a result, when the enhanced AFC is implemented to around a resonant frequency, the mechanical
characteristics of the variation may give rise to instabilities in the control system. Because the enhanced AFCs performance depends on the phase of the mechanical characteristics and a resonant mode provides a 180 degree phase shift.
A large phase variation in the mechanical characteristics may then be a cause of degradations in the performance of the
enhanced AFC. The experiments with a one degree of freedom system were conducted to demonstrate the robustness of
the enhanced AFC. The experimental results show that the variations in the resonant frequency may cause oscillations.
This study conrms that the enhanced AFC must be designed with careful consideration of the variations in the resonant
frequency.
1. The Control Systems with an Enhanced AFC

This chapter introduces adaptive algorithms of a traditional AFC and an enhanced AFC. The traditional AFC can
compensate for periodic disturbances, and the enhanced AFC can compensate for both periodic and non-periodic disturbances.
1.1. Adaptive algorithm of a traditional AFC
Firstly, Fig. 1 shows the block diagram of the control system with AFC, where P is the controlled object and C is the
stabilizing controller;u is the AFC outputs. The AFC can compensate for a periodic disturbance by the adaptive algorithm
with the form of the adaptive algorithm expressed as follows.
u(k) = p(k 1) cos(T k) + q(k 1) sin(T k)
(1)
p(k) = p(k 1) + e(k) cos(T k + )
(2)
q(k) = q(k 1) + e(k) sin(T k + )
(3)
Equation (1) indicates the AFC output; (2) and (3) indicate adaptive laws. In these equations, p and q are adaptive
parameters, T is a sampling time, k is a sample number, e(k) is position error signal, and d(k) is disturbance. The is a
natural frequency that is the target frequency for disturbance compensation; is the learning rate of the algorithm, is
a phase parameter of the AFC output: and are dened by the designer, in advance. The enhanced AFC is a control
technique for disturbance attenuation that is based on comparing an error signal e(k) to an estimated signal, which is
adjusted continuously to the error e(k) asymptotically towards zero. Convergence of the error to zero ensures that the
estimated p(k) and q(k) parameters converge to the true values.
) kT
CFA decnahnE
1
) + kT 1 (soc
(soc
) k (p
kT
z /1
) kT 2 1 (nis
+ +
) +
kT 2 1 (nis
) k (q
kT
) k( d
z/1
) k( u
+ +
+ +
) k( e
Fig. 2
Control arrangement with the enhanced AFC
1.2. Adaptive algorithm of an enhanced AFC

The enhanced AFC here is expanded with a feature to compensate for non-periodic disturbances. Figure 2 is a block
diagram of the control system with the enhanced AFC.
u(k) is the output of enhanced AFC described as,
2 T k) + q(k 1) sin( 1 2 T k).

u(k) = p(k 1) cos( 1
(4)
Equation (4) indicates the output of the enhanced AFC; the adaptive parameters p(k) and q(k) are updated by adaptive
laws as in the following equations.
p(k) = eT k p(k 1) + e(k) cos( 1 2 T k + ),

(5)
q(k) = eT k q(k 1) + e(k) sin( 1 2 T k + ).

(6)
In these equations, T is the sampling time; is the natural frequency that is the target frequency for the disturbance
compensation, is the learning rate of the algorithm, is a forgetting factor of the algorithm and is a phase parameter
for the AFC output. In the recurrence formula of the enhanced AFC, the adaptive algorithm has a damping function as a
forgetting factor, eT k ( e is Napiers constant). If is equal to 0, the adaptive algorithm is equal to the traditional AFC.
2. Theoretical Study of Stable Robustness for the Enhanced AFC

In the previous chapters, the enhanced AFC is introduced. The enhanced AFC can compensate periodic and nonperiodic disturbances, similarly. In this chapter, the design method of the enhanced AFC is introduced.
2.1. Linear Time-Independent (LTI) model of the enhanced AFC
In general, the disturbance compensation performance is evaluated in a frequency domain. To design the parameters,
the adaptive algorithm of the enhanced AFC was converted to an LTI model, and the adaptive algorithm Eqs. (5), (6) may
be rewritten as
p(k) =
eT (ka) e(a) cos(T a + ),
(7)
eT (ka) e(a) sin(T a + ).
(8)
a=1
q(k) =
a=1
Where,
1 2 = . Equations (4), (5) and (6) provide,
u(k) =
eT (ka) e(a) cos(T a + ) cos(T k) +
a=0
sixa yranigamI
]) j (b ,) j (a[
sixa laeR
0j + 1
k
Fig. 3
Design concept for the angle in the Nyquist diagram
eT (ka) e(a) sin(T a + ) sin(T k)
(9)
a=0
The trigonometric function can be transformed as

cos(T a + ) cos(T k) + sin(T a + ) sin(T k) = cos() cos(T (k a)) + sin() sin(T (k a)).
(10)
By using matched Z-transformation and convolution theory, the transfer function from e(k) to u(k) can be described as
[
]
[
]
F AFC (z) = Z eTk cos() cos(Tk) + Z eTk sin() sin(Tk)
z2 cos() + eT z cos(T ) cos()
eT z sin(T ) sin()
+ 2
z2 2eT z cos(T ) + e2T
z 2eT z cos(T ) + e2T
2
T
z cos() ze
cos(T + )
= 2
.
T cos(T ) + e2T
z 2ze
=
(11)
Equation (11) is the LTI model of the enhanced AFC. The LTI model is equal to the resonant model, and the design
parameter decides the zero, decides the gain of the LTI model.
2.2. Optimization of enhanced AFC parameters
The optimal is decided by using the vector locus. Here, the coordinates [a(), b()] the points of P( j)C( j) on
the Nyquist diagram. In Fig.3, a() and b() can be given as
a() = Re[P( j)C( j)]
b() = Im[P( j)C( j)]
The vector locus of the enhanced AFC is described as a circle in the Nyquist chart. To suppress disturbances, the vector
locus should recede from the critical point [-1, 0] on the Nyquist diagram (7,8) . The sensitivity function gain is the
reciprocal of the distance from an open loop characteristic to the critical point [-1, 0] on the Nyquist diagram. The angle
in Fig.3 indicates the opposite side of [-1, 0] from [a(), b()] and can be given as
(
)
b()
= arctan
P( j)
(12)
a() + 1
In Fig.3, the line m is a tangent to the circle that is the vector locus of the enhanced AFC. Line l passes through the
critical point and [a(), b()]. When the line m is perpendicular to line l, the distance between the vector locus and the
critical point is the maximum on the Nyquist diagram. The angle between line m and line l depends on . To recede from
the critical point [-1, 0], the proposed method sets the parameters of on the Nyquist chart. Tuning is simple by using
the proposed method because it is not necessary to assume a mathematical model, the is decided to a value that does not
cause closed loop system instability.
CFA decnahnE
) kT 2 1 (soc
) k( u
kT 2 1 (soc
) k (p
) k( d
) k( x
) +
kT
+
+
+ +
) kT
z/1
) +
(nis
kT
z/1
) k( e
kT 2 1
) k (q
(nis
Fig. 4
Control systems of the simulations
Gain [dB]
40
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
20
0
20
40
75
80
85
Phase [deg]
Frequency [Hz]
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
100
0
100
75
80
85
Frequency [Hz]
Fig. 5
Frequency responses of plant P
3. Robustness Analysis of the Enhanced AFC in Simulation

The previous chapter detailed the design method for the enhanced AFC. In the design method an optimal phase
parameter for the compensation performance is set. However, when the enhanced AFC is implemented in a control
system, the robustness of the control system is important, and the mechanical characteristics of the variation should be
considered for the robustness. In this chapter, the following introduces the robustness analysis of the enhanced AFC.
3.1. Design of the enhanced AFC for a nominal model
In this section, the design results for a nominal model are introduced. Figure 4 outlines the block diagram of the
control system. In the simulation model, x(k) is the displacement of the plant P. Figure 5 shows the frequency response
of the plant P that is a second order model. Assuming the frequency variation from the nominal value for the resonant
frequency, the four variation models are also indicated in Fig.5. The transfer function of the plant is described as,
P=
Kp
.
s2 + 2 p p + 2
p
(13)
Table 1 shows the parameters of the plant with details of the four perturbation models.
Table 1
Parameters of P(s) from the HDD Benchmark Problem

Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
p [rad/s]
2 81
2 80.2
2 79.8
2 79.5
2 79
p [%]
0.001
0.001
0.001
0.001
0.001
0.02
0.04
0.06
Adaptive parameters
Displacement [mm]
10
Kp
2000
2000
2000
2000
2000
2
0
2
0.08
0.1
0.12
0.14
0.16
0.18
without AFC
with AFC
10
0
p(k)
q(k)
0.2
0
10
Fig. 6
Fig. 7
Time response of the displacement x(k)

for the nominal model
10
0.8
0.6
Time responses of the adaptive parameters

p(k) and q(k) for the nominal model
0.4
Adaptive parameters
10
Displacement [mm]
Time [s]
Time [s]
2
0
2
0.2
0
0.2
0.4
0.6
8
10
0
0.8
without AFC
with AFC
0.5
1.5
2.5
1
0
Time response of displacement x(k)

for the Perturbation 4 model
10
Time [s]
Time [s]
Fig. 8
p(k)
q(k)
Fig. 9

p(k) and q(k) for the model of Perturbation 4
The enhanced AFC was designed to compensate the sinusoidal disturbance at 80Hz for the nominal plant. Firstly,
the simulation results of the time responses are indicated. Figure 6 shows the time response of the displacement x(k) for
the nominal model. Figure 7 shows the time response of the adaptive parameters p(k) and q(k). Figure 6 conrms that the
enhanced AFC can compensate the disturbance, and Fig.7 indicate that the adaptive parameters are converging.
However, the time responses are sensitive to mechanical variations, and Fig.8 shows the time response of displacement x(k) for the Perturbation 4 model. Figure 9 shows the time response of the adaptive parameters p(k) and q(k). Figure
8 conrms that the enhanced AFC cannot compensate the disturbance, and Fig.9 indicate that the adaptive parameters are
divergent. Secondly, the simulation results of the frequency responses will now be detailed. Figure 10 shows the Nyquist
diagram and Fig. 11 shows the sensitivity function for the four perturbations in Table 3. The sensitivity functions have a
peak around 80Hz for two of the variation models, especially sharp for Perturbation 4. These vector loci are very close to
the critical point [-1, 0] for the variation models, and it may be hypothesized that the peak is responsible for the instability
of the control system. That is, the control system is not suciently robust to deal with the variations here. The results
here shows the need for the enhanced AFC to be designed with consideration of the actual variation.
12
20
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
Critical point
10
8
10
5
Gain [dB]
Imaginary axis
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
15
2
0
0
5
10
15
20
25
10
15
30
75
80
Fig. 10
85
Frequency [Hz]
Real axis
Vector locuses of the open loop
Fig. 11
Frequency responses of the sensitivity function
tniop lacitirC
4 noitabrutreP :tniop zH08
lanimoN :tniop zH08
lanimoN
Fig. 12
Table 2
80Hz points in the vector locus
Parameters of P(s) from the HDD Benchmark Problem
[rad/s]
Without consideration of variation 2 80
With consideration of variation
2 80
[%]
0.002
0.002
[deg]
-70
30
-83
65
3.2. Design of the enhanced AFC with consideration for mechanical variations
In the above, the control system with the enhanced AFC was shown to suer from potential instabilities arising from
variations in the resonant mode, and the robustness of the control system with the enhanced AFC will be analyzed next.
The optimal depends on the phase of the mechanical characteristics, and variations in the mechanical characteristics may
be a of cause degradation of the stability. Especially, when the enhanced AFC is implemented at a resonant frequency,
the variation in the mechanical characteristics may cause instability in the control system, because the resonant mode
is subject to a 180 degree phase shift. If the frequency of the enhanced AFC is set within the range of variation of the
resonance frequency, the optimal phase condition can be changed by this variation.
The sensitivity function gain is commonly evaluated for stability, here the maximum gain is at the point closest to
[-1, 0] in the Nyquist chart. Further, when the enhanced AFC is implemented at around a resonant frequency, the closest
point varies greatly depending on the mechanical characteristics. Figure 12 shows the point of 80Hz in the nyquist chart
for nominal model and Perturbation 4. Therefore, should be designed to be the point closest to [-1, 0]. The was next
designed to be the closest point. The 80Hz point of Perturbation 4 is closest to the critical point in this simulation. Table
2 shows the parameters of the enhanced AFC in this case. The criterion for stability was set as a sensitivity functions
gain of less than 10dB. The sensitivity function gain is the reciprocal of the distance from the critical point [-1, 0] on the
Nyquist diagram. The distance must be more than 0.316 on the Nyquist diagram (20 log10 (0.316) = 10). Figure 13 shows
the Nyquist diagram with this condition, and Fig. 14 shows the resulting sensitivity function. The vector locus is further
from the critical point for all the models. Here the sensitivity function gain is less than 10dB for all models.
The responses were simulated, and Fig.15 shows the time response of displacement x(k) for the nominal model, with
Fig.16 the time response of the adaptive parameters p(k) and q(k).
20
8
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
Critical point
6
4
10
5
Gain [dB]
Imaginary axis
Nominal
Perturbation 1
Perturbation 2
Perturbation 3
Perturbation 4
15
2
4
0
5
10
15
20
10
25
12
10
30
75
15
Real axis
Fig. 13
Vector locus of the open loop: is

designed with considering the variation
Fig. 14
0.04
Frequency responses of the sensitivity function:

is designed considering the variation
0.02
0.06
2
0
2
0.08
0.1
0.12
0.14
0.16
0.18
without AFC
with AFC
10
0
p(k)
q(k)
0.2
0
10
Fig. 15
Fig. 16

for the nominal model ( considering variation )
10
Time [s]
Time [s]

p(k) and q(k) for the nominal model ( considering variation )
10
0.02
0.04
Adaptive parameters
Displacement [mm]
85
Adaptive parameters
10
Displacement [mm]
80
Frequency [Hz]
4
2
0
2
4
0.06
0.08
0.1
0.12
0.14
0.16
6
0.18
8
10
0
without AFC
with AFC
2
p(k)
q(k)
0.2
0
10
Time [s]
10
Time [s]
Fig. 17

for the model of Perturbation 4 ( considering variation )
Fig. 18

p(k), q(k) for the model of Perturbation 4
( considering variation )
Figure 17 conrms that the enhanced AFC can compensate the disturbance for the nominal model, and indicates that the
adaptive parameters are converging with the nominal model. Figure 17 shows the time response of displacement x(k) for
Perturbation 4. Figure 18 shows the time response of adaptive parameters p(k) and q(k). The enhanced AFC can also
compensate the disturbance for the model of Perturbation 4, and the adaptive parameters also converge with Perturbation
4. The enhanced AFC should be designed at closest to the critical point considering the variations for the robustness.
rotautca rof VDL

fo tniop erusaeM
rotautcA
reticxe noitarbiV
rosnes llec daoL
etalp enalp rof VDL

fo tniop erusaeM
etalp enalP
ssaM
Experimental arrangement for the robustness verication experiments Measurement point of the LDV on
the plane plate
atad VDL morf noitaluclac
:etalp enalp fo tnemecalpsiD
Fig. 19
reticxe noitarbiV
yb desuac ecnabrutsiD
rotautca
+
ssam htiw etalp enalP
atad VDL morf noitaluclac

:rotautca fo tnemecalpsiD
noitasnepmoc ecnabrutsid rof

tuptuo sCFA decnahnE
CFA decnahnE
Fig. 20
Outline of the control system
40
Gain [dB]
20
mass 1
mass 2
0
20
40
60
10
20
30
40
50
60
70
80
90
100
Frequency [Hz]
Phase [deg.]
180
90
mass 1
mass 2
0
90
180
0
20
40
60
80
100
Frequency [Hz]
Fig. 21
Frequency response from the input of the vibration exciter to the displacement of the plane plate
4. Verication the Robustness Analysis of the Enhanced AFC in Experiments

Figure 19 shows the experimental setup used to verify the robustness of the enhanced AFC discussed so far. The
experiments with a one degree of freedom arrangement (Yahagi et al. 2012) with a plane 442mm long, 100mm wide,
and 10mm thick. The two short sides of the plate are xed. A proof mass actuator with a voice coil motor (VCM) is
installed at the center of the plate. A proof mass actuator with a voice coil motor (VCM) is installed on the center of the
plate. An additional mass is attached to the opposite surface, under the plate. A vibration exciter inputs vibrations to the
plane plate as disturbances, and the vibrations are measured by a load cell. The velocity of the plane plate is measured
by a laser Doppler velocimetry (LDV). The velocity of the actuator is also measured by a LDV. The displacements are
calculated from the integral of the velocity with respect to time. In the experimental setup, the control objective is vibration
suppression of the plane plate. The vibration is suppressed by the actuator output with the actuator input the displacement
5
4
Displacement [mm]
3
2
1
0
1
2
3
4
without AFC
with AFC
5
0
Time [s]
Fig. 22
Time response of the displacement of the plane plate with the mass 1: 3.78kg
20
mass 1
mass 2
15
10
5
Gain [dB]
Imaginary axis
0
5
10
15
20
mass 1
mass 2
Critical point
10
25
10
30
75
80
Fig. 23
Nyquist diagram of the enhanced AFC

without considering variation
85
Frequency [Hz]
Real axis
Fig. 24
Sensitivity function of the enhanced AFC

without considering variation
of the plane plate. The actuator output is calculated by the enhanced AFC as the signal that has to be compensated for.
Figure 20 shows an overview of the control system and the following will evaluate the displacement of the plane plate
Disturbance compensation was investigated with two mass: mass 1 is 3.78kg, mass 2 is 4.16kg. The additional
mass is attached to control the resonant frequency. Figure 21 shows the frequency responses from the input of the
vibration exciter to induce displacement to the plane plate. The resonant frequency of the plane plate depends on the
mass: 81.85Hz for mass 1, 79.50Hz for mass 2. The vibration exciter inputs an 80Hz sinusoidal signal to the plane plate.
Firstly, the enhanced AFC is designed to compensate the sinusoidal signal, and implemented to the plane plate with mass
1 with Fig.22 showing the time response of the displacement, showing that the enhanced AFC is able to compensate the
sinusoidal signal.
Next, the enhanced AFC is applied to compensate the sinusoidal signal for the plane plate with mass 2. The enhanced
AFC is optimized to t the plane plate with mass 1 (without considering the variations). Figure 23 shows the Nyquist
diagram and Fig.24 shows the sensitivity function for the enhanced AFC. Figure 23 shows that the vector locus for the
AFC designed to t mass 2 is very close to the critical point and Fig.24 shows that the rejection gain has a peak around
80Hz. To avoid the problem, we optimized the second enhanced AFCs to consider the variations. The second enhanced
AFCs is optimized to consider the variations. The enhanced AFCs parameter is designed to be at the point closest to the
critical point in Nyquist diagram. Figure 25 shows the Nyquist diagram and Fig.26 shows the sensitivity function for the
enhanced AFC considering for the mechanical variation. The vector locus has moved away from critical point in Fig.25
and the sensitivity function gain is less than 10dB in Fig.26.
10
20
mass 1
mass 2
Critical point
mass 1
mass 2
15
10
5
Gain [dB]
Imaginary axis
0
5
10
15
20
25
10
30
75
10
80
Fig. 25
85
Frequency [Hz]
Real axis
Fig. 26
Nyquist diagram of the enhanced AFC

considering variation
Sensitivity function of the enhanced AFC

considering variation
15
Displacement [mm]
10
10
15
0
Without consideration for variation

Without AFC
With consideration for variation
1
Time [s]
Fig. 27
Time response of the displacement of the plane plate with the mass 2: 4.16kg
Fig. 28
Time response of the enhanced AFCs output:

left panel considering variation, right panel without considering variation
Figure 27 shows the time response of the displacement of the plane plate with mass 2. The enhanced AFC with
considering for the variations is able to compensate for the sinusoidal signal, the enhanced AFC not considering the
variations is not albe to compensate for the sinusoidal signal. Figure 28 shows the time response of the output of the
enhanced AFC It is observed from Fig. 28 that the enhanced AFCs output without consideration for the variation causes
an excess of oscillation, as the actuators output is limited to 0.5V in the experiment. This result clearly shows the critical
importance of considering the mechanical variation in the design of the enhanced AFC.
11
5. Conclusion
This paper presents a robustness analysis of an enhanced AFC for a one degree of freedom system. The optimal
parameter of the enhanced AFC depends on the phase of the mechanical characteristics. Especially, when the enhanced
AFC is implemented to around a resonant frequency, the mechanical characteristics of a variation may cause instability
of the control system. Because a resonant mode may give rise to a 180 degree phase shift. The experimental results
show that the variation of the resonant frequency can cause oscillation, and the enhanced AFC should be designed with
consideration for the variations in the resonant frequency. The analysis is helpful to enable designing of an enhanced AFC
for a real system, like a HDD.
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12

Robustness Analysis of Enhanced Adaptive Feed-Forward Cancellation

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Robustness Analysis of Enhanced Adaptive Feed-Forward Cancellation

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Bulletin of the JSME

Vol.8, No.1, 2014

Journal of Advanced Mechanical Design, Systems, and Manufacturing

Robustness analysis of enhanced adaptive feed-forward

Division of Human Mechanical Systems and Design, Hokkaido University

Received 31 October 2013

2014 The Japan Society of Mechanical Engineers

Control arrangement with AFC

1. The Control Systems with an Enhanced AFC

p(k) = p(k 1) + e(k) cos(T k + )

q(k) = q(k 1) + e(k) sin(T k + )

2014 The Japan Society of Mechanical Engineers

Control arrangement with the enhanced AFC

1.2. Adaptive algorithm of an enhanced AFC

2 T k) + q(k 1) sin( 1 2 T k).

p(k) = eT k p(k 1) + e(k) cos( 1 2 T k + ),

q(k) = eT k q(k 1) + e(k) sin( 1 2 T k + ).

2. Theoretical Study of Stable Robustness for the Enhanced AFC

eT (ka) e(a) cos(T a + ),

eT (ka) e(a) sin(T a + ).

1 2 = . Equations (4), (5) and (6) provide,

eT (ka) e(a) cos(T a + ) cos(T k) +

2014 The Japan Society of Mechanical Engineers

Design concept for the angle in the Nyquist diagram

eT (ka) e(a) sin(T a + ) sin(T k)

The trigonometric function can be transformed as

2014 The Japan Society of Mechanical Engineers

Control systems of the simulations

Frequency responses of plant P

3. Robustness Analysis of the Enhanced AFC in Simulation

2014 The Japan Society of Mechanical Engineers

Parameters of P(s) from the HDD Benchmark Problem

Time response of the displacement x(k)

Time responses of the adaptive parameters

Time response of displacement x(k)

Time responses of the adaptive parameters

2014 The Japan Society of Mechanical Engineers

Vector locuses of the open loop

Frequency responses of the sensitivity function

80Hz points in the vector locus

Parameters of P(s) from the HDD Benchmark Problem

2014 The Japan Society of Mechanical Engineers

Vector locus of the open loop: is

Frequency responses of the sensitivity function:

Time response of displacement x(k)

Time responses of the adaptive parameters

Time response of displacement x(k)

Time responses of the adaptive parameters

2014 The Japan Society of Mechanical Engineers

rotautca rof VDL

etalp enalp rof VDL

atad VDL morf noitaluclac

noitasnepmoc ecnabrutsid rof

Outline of the control system

4. Verication the Robustness Analysis of the Enhanced AFC in Experiments

2014 The Japan Society of Mechanical Engineers

Nyquist diagram of the enhanced AFC

Sensitivity function of the enhanced AFC

2014 The Japan Society of Mechanical Engineers

Nyquist diagram of the enhanced AFC

Sensitivity function of the enhanced AFC

Without consideration for variation

Time response of the enhanced AFCs output: