A nonlinear PID servo controller for computer hard disk drives

Muhammad A. Hawwa*, Ahmad A. Masoud

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

6 Scopus citations


A nonlinear PID scheme is proposed as an efficient hard disk drive servo controller, reducing the settling time and lowering the required control effort. The controller is capable of increasing (decreasing) damping effect when the system output is moving away from (towards) the desired track. This is carried out by utilizing a derivative action tuned by a nonlinear function to provide the system with the needed level of damping. Simulation results, including step function response, control signal history, robustness in terms of the influence of a rate limiter, and a disturbance rejection capability are presented.

Original languageEnglish
Number of pages5
StatePublished - 2006


  • Hard disk drive
  • Micropositioning
  • Nonlinear control
  • Servo systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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