van Haren, Max (Eindhoven University of Technology), Mae, Masahiro (The University of Tokyo), Blanken, Lennart (Eindhoven University of Technology), Oomen, Tom (Eindhoven University of Technology)

Lifted Frequency-Domain Identification of Closed-Loop Multirate Systems: Applied to Dual-Stage Actuator Hard Disk Drives

Scheduled for presentation during the Invited Session "Cutting-edge technology in Precision Servo Systems for Next-Generation Mechatronics" (FrAT1), Friday, July 18, 2025, 11:40−12:00, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

Frequency-domain representations are crucial for the design and performance evaluation of controllers in multirate systems, specifically to address intersample performance. The aim of this paper is to develop an effective frequency-domain system identification technique for closed-loop multirate systems using solely slow-rate output measurements. By indirect identification of multivariable time-invariant representations through lifting, in combination with local modeling techniques, the multirate system is effectively identified. The developed method is capable of accurate identification of closed-loop multirate systems within a single identification experiment, using fast-rate excitation and inputs, and slow-rate outputs. Finally, the developed framework is validated using a benchmark problem consisting of a multivariable dual-stage actuator from a hard disk drive, demonstrating its applicability and accuracy.