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Hard Disk Drive Servo Systems- P4

Tham khảo tài liệu 'hard disk drive servo systems- p4', công nghệ thông tin, phần cứng phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 136 5 Composite NonlinearFeedbackControl v can he cepodsdecl es e qpB Px for some non-nce reive variable - 0 0 1 . Thus forthe oascwhen w and ne umax the closcd-loodsytlcm comprtstngtheeugmcnted plent inEquaeion5.92endtheenhakcednNkcsntcottaw in I iqueeiont .lOl canbe expoessePasSdllcws x A BF qpBB P x Ew 5.108 In what folCowStWe show that thesystemiw Enuation5.10q isstab-e provtdnh that thesnitraS concit-o i-i-.tee targes reaesenss r itnd thcdistadbanye tc tstisfy those ccoWStions listed in tdn eqeorem.Lekns dnfiee nl.yapsiiiosTtiqrese V x Px For eacydocivotion scrLSlroduecrmalrix S tueh thetP S S. We then obtain t0y derivatida eS -a eoScula-cdeicng iho lraicnll ryol lho 075 011011x11 1110115.101 V x Pi i Pi i A BF P P A BF x 2qpx PBB Px 2x PEw -x Wx x PEw -x S SP- WP- S Sx 2x S SEw -XnuntSP- WP S yx S Sx 2 S SP rtt -Amin P-1lV i Pi 2tw x Px 1 2 E PE 1 2 -Ami P 1W i Pi 1 2 x Pxf2 - 2rwXm iX .PW-1 E PE 1 -Xmia P-1W x Px 1 2 i Pi 1 2 - 7 5.110 We note Shetoyhavousce ihc.nllcsvlryroaqix firoperlict . -kA . Xnl n X z z where WCdra symmetoinmatr-x iit AiAT X YX if both Acnd Y are square matricnsiaediiirqiX E 0 if X 0 and Y 0. Clearlstheciosed-looeiyctom in the eqsclsceekthk Lssturbanoe ic hks V 0 and thusis re onpCiOsnioteUCiio-. With tte psesennnenteo unknown constan dioirn ba loetís and witelho IniiaO conditionitO io _ i e C X F cg where os t the coo spont is n e i - jectoryofEouaSion5.10e psn ut .X - nd convergee io eeo nr onaboll x x Px y2 with 7 7. Since 1 - Jo Kie r dT converge io ecoi LCin it is clcarteatalciratC nla noror edt 0 as t C . This complgteitho .wocO of Theorem5.n. ii. Measurement FeedbaekCase. Next wo procoed.odnslon an enllallccrlCNI contro-tawusico on-qinfqrmatson meosurnklcencmtecSant. Inc eiinci nc tveioin design at-u n o f U-OTS ri i suso etn s ltiis Ssioc-oo-Oet bit wlilrh hr gwiam-ical order L i entk-il. to -cat oftee given elane nre rcdllccnlx tgoiwt castnsolcn feedbacknon-oo- ew inwhicq caeafas- n hO. nseol tto oscesslrnolcn onO H.ll nd .