METHOD AND DEVICES FOR CONTROLLING A DISK DRIVE

The present invention provides a control system (200) having a digital controller (212) producing output signals at a plurality of update times. Control circuitry is responsive to the controller (212) and outputs at least one command signal to the plant (210) at a different time than the update times. A method of controlling a plant (210) is also provided. The method includes the steps of providing a digital controller (212) to determine a plurality of switching times and to produce output signals at a plurality of update times, and providing at least one command signal to the plant (210) at a different time than the update times.