Dynamic System Control Method

A method of generating a trajectory for inclusion in a position-velocity table which is used to control a dynamic system, the method comprising the steps of:

• generating a trajectory for the dynamic system, the trajectory defining system velocity in terms of system position and one or more additional variables;
• storing the trajectory in a position-velocity table having N (N)2) dimensions;
• and
• controlling the dynamic system in accordance with the trajectory stored in the position velocity table.

A method of controlling a dynamic system in accordance with a variation in a system variable, the method comprising the steps of:

• generating a plurality of trajectories defining system velocity in terms of system position;
• the plurality of trajectories being generated in accordance with at least one system variable;
• storing the plurality of trajectories in a single position-velocity table;
• detecting a value of the at least one system variable;
• and
• controlling the dynamic system in accordance with both the detected value of the system variable and the trajectories stored in the position-velocity table.

A data storage device which uses a position-velocity table to control movement of a component of the data storage device, the data storage device comprising:

• a memory which stores the position-velocity table and computer-executable instructions;
• and
• a processor which executes the instructions stored in the memory so as
• (i) to generate a position variable for the component;
• (ii) to determine a velocity command for the component using the position velocity table, the processor determining the velocity command based on the position table;
• (iii) to shape the velocity command in order to generate a shaped velocity command to reduce unwanted vibrations resulting from movement of the component;
• and
• (iv) to control the component to move based on the shaped velocity command.