Patent ID: 7283321

Claim:
A disk drive, comprising: a disk for storing data; a head; a microactuator for positioning the head relative to the disk; a coarse actuator for positioning the microactuator relative to the disk; and a servo controller for controlling the microactuator based on a plurality of microactuator feedforward values and for tuning at least one microactuator feedforward value of the plurality of microactuator feedforward values; wherein the servo controller is configured to tune the at least one microactuator feedforward value so as to compensate for position error due to at least one of a nonlinearity of a gain of the microactuator, a change in the gain of the microactuator due to a change in temperature, a modeling error in a model used to generate initial values for the plurality of microactuator feedforward values, and pivot friction generated when the coarse actuator pivots an actuator arm assembly on which the head is mounted; and wherein the plurality of microactuator feedforward values are stored in a look-up table in a memory.