Optimal multirate control design for hard disk drive servo systems Chen, Ruifeng ; Guo, Guoxiao ; Huang, T. ; Low, Teck-Seng ; Weerasooriya, S. Abstract Publication: IEEE Transactions on Magnetics Pub Date: July 1998 DOI: 10.1109/20.706736 Bibcode: 1998ITM....34.1898C