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A direct adaptive feedforward control method for tracking repeatable runout(RRO) in bit patterned media recording (BPMR) hard disk drives (HDD) isproposed. The technique estimates the system parameters and the residual RROsimultaneously and constructs a feedforward signal based on a known regressor.An improved version of the proposed algorithm to avoid matrix inversion andreduce computation complexity is given. Results for both MATLAB simulation anddigital signal processor (DSP) implementation are provided to verify theeffectiveness of the proposed algorithm.

DSP Implementation of a Direct Adaptive Feedfoward Control Algorithm for Rejecting Repeatable Runout in Hard Disk Drives