SummaryA method for designing a sensitivity function for a multiple‐input single‐output servo system is proposed. The method does not require weighting or weighting functions, unlike linear‐quadratic (LQ) or H∞ design. First, a controller candidate is derived by taking into consideration the robustness specification for the plant system. Then, the sensitivity function is derived from the gain specification of the sensitivity function. As the design of a multirate controller can be shown to be equivalent to a multiple‐input single‐output system, the method is employed to design a multirate VCM position control system. The multirate controller is designed such that at frequencies higher than the Nyquist frequency, the desired robustness is achieved. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 185(4): 53–59, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22296
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