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In December 2017, Seagate unveiled the Multi Actuator Technology to double the data performance of the future generation Hard Disk Drives (HDDs). This technology will equip drives with two Dual Stage Actuators (DSAs) 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&#x2019;s arms. As both the DSAs operate independently on the same pivot timber, the control forces and torques generated by one can affect the operation of the other and thereby worsening the performance drastically. In this paper, a robust adaptive feedforward controller is designed as an add-on controller to an existing stabilizing feedback controller to reject the disturbances transferred through the common pivot timber by shaping the references to the VCM actuator and the total output of the dual stage system.

Adaptive Feedforward Reference Design for Active Vibration Rejection in Multi-Actuator Hard Disk Drives