Patent ID: 7110214

Claim:
A disk drive comprising: an actuator having a coil; a head attached to the actuator; a disk including at least a first track and a second track; and a processor for controlling operations in the disk drive including a seek operation from the first track to the second track in which the head is moved between the first track and the second track by movement of the actuator, the processor under the control of a program to: generate a deceleration velocity profile for the seek operation, the deceleration velocity profile for the seek operation being determined based upon a deceleration velocity profile function that includes a back electromagnetic force (BEMF) model to take into account back electromagnetic forces (BEMFs) associated with the coil of the actuator such that BEMFs are mathematically modeled; and command the head to seek to the second track utilizing the deceleration velocity profile function that includes the BEMF model, wherein the deceleration velocity profile function that takes into account mathematically modeled BEMFs is determined utilizing an approximated acceleration solution to a second order system that includes the BEMF model and the second order system that includes the BEMF model is described by an equation {umlaut over (x)}=a−rv, wherein “x” is a position error signal, “a” corresponds to an acceleration commanded by a control effort, “r” is a BEMF coefficient, and “v” corresponds to a velocity.