Magnetic recording disk file servo control system including an actuator model for generating a simulated head position error signal

Claim 1

A servo system for a magnetic disk file in which an electrically driven voice coil motor (VCM) actuator moves a magnetic servo head to different concentric recording tracks on a magnetic recording disk file, said disk file having recorded thereon a servo pattern which produces a position error signal (PES) in said servo head which is a measure of the displacement of said servo head from the centerline of one of said tracks, comprising: an electrical model of said VCM, said model further comprising means for receiving a first measure of the current in said VCM, and means, including a hysteretic switch, for generating a signal representative of the estimated track location of said servo head and for generating a simulated PES in response to the measure of VCM current received; means for continuously supplying a first measure of the current in said VCM; means for comparing the simulated PES with said PES to generate a comparison error signal; means for generating a signal which is a measure of the actual track location of said servo head; means for comparing said estimated track location signal from said model with said actual track location signal to generate a track location error signal; and means for combining said comparison error signal, said track location error signal, and said second measure of VCM current to form said first measure of VCM current supplied to said model.