中文摘要：

基于概括了变化方法由更多样地介绍哈密尔顿功能和 Lagrange，这份报纸与固定终端状态和时间为一个不完全的可控制的系统建议了线性二次的最佳的控制策略。把建议最佳的控制用于简单二输入的双阶段的致动器有三 degrees-of-freedom 的磁性的头放系统，模拟结果证明系统没在终端位置和时间有剩余颤动，它能在头放期间减少全部的存取时间进程。为了验证三 degrees-of-freedom 春天团的最佳的控制策略的确认，在实际的磁性的头放硬盘运动当模特儿，放系统的一个实际的磁性的头的一个有限元素模型被介绍。代替最佳的控制力量从简单三个 degrees-of-freedom 春天团模型进有限元素模型，模拟结果证明磁性的头也没在 track-to-track 旅行的结束有剩余颤动。那是说，基于有三的简单二输入的双阶段的致动器系统， degrees-of-freedom 在这份报纸建议了的线性二次的最佳的控制技术具有为放系统的一个实际的磁性的头的工业应用程序的高可靠性。

英文摘要：

Based on generalized the variation method, by introducing Hamilton function and Lagrange multiplier, this paper proposed a linear quadratic optimal control strategy for an incomplete controllable system with fixed terminal state and time. Applying the proposed optimal control to the simple two-input dual-stage actuator magnetic head positioning system with three degrees-of-freedom, the simulation results show that the system has no residual vibration at the terminal position and time, which can reduce the total access time during head positioning process. To verify the validation of the optimal control strategy of three degrees-of-freedom spring-mass models in actual magnetic head positioning of hard disk drives, a finite element model of an actual magnetic head positioning system is presented. Substituting the optimal control force from simple three degrees-of-freedom spring-mass models into the finite element model, the simulation results show that the magnetic head also has no residual vibration at the end of track-to-track travel. That is to say, the linear quadratic optimal control technique based on simple two-input dual- stage actuator system with three degrees-of-freedom proposed in this paper is of high reliability for the industrial application of an actual magnetic head positioning system.