A robust stability methodology for track following servo systems

In this paper, we use the Youla parameterization for an uncertain LTI system to characterize the set of all stabilizing controllers. Next, this set is used as a search space to find the controller which minimizes ?2 norm of the transfer function from disturbance to output. Finally, this methodology is used for stabilization of a 8-th order plant affected by parametric uncertainty describing a voice coil motor (VCM) of a hard disk drive (HDD).