Abstract: According to a preferred aspect of the instant invention, there is provided a system and method of robust control profile generation which suppresses one or some resonant modes in a flexible dynamic system. This robust control profile is a smooth function which can be used as a velocity profile, or as a shape filter to an arbitrary control command. The robustness can be arbitrarily improved. The robustness brings about a smoother profile. The technique can be applied to both open-loop and closed-loop systems. As a consequence of the use of the instant invention, the movement of a flexible arm that is performed according to this sort of function will be one that has minimal or reduced residual vibration after it has reached its destination.

Abstract: According to a preferred aspect of the instant invention, there is provided a system and method of robust vibration suppression which might be used in many subject matters, but which is preferably used in connection with computer controlled electromechanical devices such as disk drive arms. In a first preferred embodiment, a Gaussian waveform is selected as a velocity profile, with its integral and derivatives providing position and acceleration/jerk profiles respectively. According to another preferred embodiment, the movement velocity profile will be selected to be a member of the prolate spheroid family of waveforms. This family of functions has certain optimal properties with respect to the frequency domain concentration of energy for a given time-domain length time series. The movement of a flexible arm that is performed according to the invention will be one that has minimal or reduced residual vibration after it has reached its destination.

Abstract: Method and apparatus for control object manipulation from an initial position to a final position. A jerk control profile describes a near time-optimal jerk trajectory for the control object and includes a sequence of first, second and third sinusoidal pulses of respectively alternating polarity and common absolute magnitude. The area of the second pulse is nominally equal to the combined area of the first and third pulses, and the pulses are preferably symmetric about the respective maximum pulse values. Associated control profiles (control voltage, current, velocity, displacement, etc.) are derived from the jerk control profile. For longer seeks, constant, non-zero jerk segments are inserted into the profile between the pulses, during which control voltage is maintained near saturation. The control object preferably comprises a transducer in a data storage device and the jerk control profile is stored in a memory location of the device.