Iterative Youla-Kucera Loop Shaping For Precision Motion Control

Abstract

This paper presents a numerically robust approach to multi-band disturbance rejection using an iterative Youla-Kucera parameterization technique. The proposed method offers precise control over shaping the frequency response of a feedback loop while maintaining numerical stability through a systematic design process. By implementing an iterative approach, we overcome a critical numerical issue in rejecting vibrations with multiple frequency bands. Meanwhile, our proposed modification of the all-stabilizing Youla-Kucera architecture enables intuitive design while respecting fundamental performance trade-offs and minimizing undesired waterbed amplifications. Numerical validation on a hard disk drive servo system demonstrates significant performance improvements, enabling enhanced positioning precision for increased storage density. The design methodology extends beyond storage systems to various high-precision control applications where multi-band disturbance rejection is critical.