Magnetic Disk drives are widely spread as data storage devices, and recently a demand for large capacity and down-sizing has been increased. In order to meet this demand, head positioning control technique is expected to improve the head positioning accuracy by reducing tracking error which is caused by disturbance such as bias-force and repeatable run-out. The developed disturbance compensation system is a learning system which can reduce the tracking error by updating the compensation table using a disturbance observer.
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