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Takuya Umemura, Nagoya Institute of Technology,Gokiso,Syowa,Nagoya Katsuhiko Fuwa, Nagoya Institute of Technology Hisasi Kando, Nagoya Institute of Technology In this paper, an initial value compensation method to mode switching controllers of magnetic disks drives is considered in order to improve transient characteristics. The basic idea is to relocate zeros of the transfer function between state variables of the plant and the controller by the initial value compensation method. First, the zero assignment problem is formalated, and the class of zeros which can be relocated is clarified. Second, an optimal design method of initial values to minimize a linear quadratic function of state valiables is proposed.

Optimization method of Initial Value Compensation for Mode Switching Control Systems