Patent ID: 6972924

Claim:
A disk drive comprising: (a) a first disk surface and a second disk surface; (b) an actuator arm; (c) a first head coupled to a distal end of the actuator arm and positioned over the first disk surface; (d) a second head coupled to a distal end of the actuator arm and positioned over the second disk surface; (e) a primary actuator for rotating the actuator arm about a pivot in coarse movements; (f) a first secondary actuator coupled to the actuator arm for actuating the first head over the first disk surface in fine movements; (g) a second secondary actuator coupled to the actuator arm for actuating the second head over the second disk surface in fine movements; (h) a servo controller for: generating a first control signal applied to the first secondary actuator to position the first head over the first disk surface in fine movements while accessing the first disk surface; and phase shifting the first control signal by a predetermined phase to generate a second control signal applied to the second secondary actuator to attenuate excitation of at least one arm vibration modes wherein: the first secondary actuator is coupled to a first side of the actuator arm; a first linkage extends along the first side of the actuator arm and couples the first secondary actuator to the first suspension; the second secondary actuator is coupled to a second side of the actuator arm; and a second linkage extends along the second side of the actuator arm and couples the second secondary actuator to the second suspension.