In optical-disc drives (ODDs), disturbances can be roughly classified in two groups: external disturbances and defects. The first group requires a higher closed loop bandwidth than the second group. If the closed loop has a high bandwidth the controller may have a good performance against external disturbances but it might follow the defects of the disc surface. In order to make ODDs more robust against surface defects, a new control method for compensating the defects has been developed. The developed control method can estimate the plant state. The feedforward control input, which can transfer the estimated state to zero, is systematically generated by using a final-state control (FSC) method. The simulation results show that the developed control method can significantly improve the robustness against the defects.
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