Patent ID: 7286318

Claim:
A disk drive comprising: a rotatable data storage disk; a head that is configured to read data from the disk; an actuator that is configured to position the head relative to the disk responsive to a current command signal; and a servo controller that is configured to carry out a position mode seek of the head between tracks on the disk by generating the current command signal to the actuator which is varied in response to a current feedforward signal that defines a head position profile during the seek, varied in response to a position response signal that defines an expected actuator movement response of the head to the current feedforward signal, and varied in response to a current feedback signal, the servo controller is further configured to measure an open loop response of the actuator to an open loop test current signal, and is configured to use the measured open loop response of the actuator to vary contributions of the current feedforward signal and the position response signal to the current command signal for the position mode seek of the head.