A method for positioning a control object using an optimum jerk profile to
reduce excitation of mechanical resonances. A base set of control profiles
is selected to describe jerk, acceleration, velocity and displacement of
the control object during a seek. Notch functions are applied to the base
jerk profile to provide a modified jerk profile having a value of zero at
selected times during which maximum current is to be applied to move the
control object. Normalized control profiles describing acceleration,
velocity and displacement are generated from the modified jerk profile and
thereafter used to move the control object. To suppress specific resonant
frequencies of interest, the elapsed time of the seek is selected to
coincide with a time at which a combination of the excitation energies
associated with the resonant frequencies is at a minimum.
