Patent ID: 7626780

Claim:
A magnetic disk drive comprising: a magnetic disk medium; a magnetic head for reading out information recorded in the magnetic disk medium; an arm for supporting the magnetic head; a first actuator for actuating the arm to perform control of a position of the magnetic head on the magnetic disk; a second actuator for adjusting the position of the magnetic head on the arm; a position error signal generation circuit for generating a position error signal indicative of an error between a desired position of the magnetic head and a present position of the magnetic head in accordance with the information read out by the magnetic head; a first control circuit for generating a signal for controlling the first actuator in accordance with the position error signal and for outputting the signal; a second control circuit for generating a signal for controlling the second actuator in accordance with the position error signal and for outputting the signal; a main control circuit for selecting one of first and second modes in accordance with the position error signal, the first mode being for setting a control system inclusive of the first control circuit and the first actuator to be a stable system by not causing control of the second actuator to be performed by the second control circuit, and the second mode being for setting the control system for setting a control system inclusive of the first control circuit and the first actuator to be an unstable system and setting a control system inclusive of the first control circuit, the first actuator, the second actuator, and the second actuator to be the stable system by causing the control of the second actuator to be performed by the second control circuit, thereby causing the control circuits to operate.