System Identification in Multi-Actuator Hard Disk Drives with Colored Noises using Observer/Kalman Filter Identification (OKID) Framework

Multi Actuator Technology in Hard Disk drives (HDDs) equips drives with two dual stage actuators (DSA) each comprising of a voice coil motor (VCM) actuator and a piezoelectric micro actuator (MA) operating on the same pivot point. Each DSA is responsible for controlling half of the drive's arms. As both the DSAs operate independently on the same pivot timber, the control forces and torques generated by one affect the operation of the other. The feedback controllers might not completely reject these transferred disturbances and a need to design feedforward controllers arises, which require a good model of the disturbance process. The usual system identification techniques produce a biased estimate because of the presence of the runout which is a colored noise. In this paper, we use the OKID framework to estimate this disturbance cross transfer function from the VCM control input of one DSA to the output of the other DSA from the collected time series data corrupted by colored noise.