A servo system in a disc drive (110) provides robust servo control during track following operations. The disc drive (110) includes a rotatable disc (112) having a disc surface (180, 182) with information arranged in tracks on the disc surface (180, 182). The disc drive (110) also includes a transducer (144) for accessing the information on the disc surface (180, 182). An actuator arm (126) is operably coupled to the transducer (144). An actuator (173) is operably coupled to the actuator arm (126) to move the transducer (144) relative to the disc surface (180, 182) to follow one of the tracks during track following. A model-based servo controller (190) is operably coupled to the actuator (173) to control movement of the actuator (173). The model-based servo controller (190) provides robust track following control over a desired frequency range.
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