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首先根据视盘机光学头执行机构模型，利用线性分式变换的方法得到模型参数摄动后的广义对象模型；控制器的结构为内外两环，内环采用Ｈ∞鲁棒控制理论设计控制器，抑制参数摄动和外界扰动所引起的结构振动，外环为ＰＩＤ控制器，使系统达到跟踪性能指标的要求．最后是数值仿真，结果表明，该方法具有较好的跟踪和抑制振动性能．
Firstly, the generalized object model perturbed by the model parameters is obtained by using the linear fractional transformation method according to the actuator model of the optic disc optical head; the structure of the controller is the inner and outer rings; the inner ring is designed by H∞ robust control theory; Parameter perturbation and external disturbance caused by the structural vibration, the outer loop for the PID controller, the system to achieve tracking performance requirements. Finally, the numerical simulation results show that this method has good tracking and suppression of vibration performance.