Patent ID: 7583468

Claim:
A method comprising the step of controlling a magnetic head to follow a track on a rotating disk surface in a hard disk drive, comprising the steps: a micro-actuator control ( 250 ) creating a micro-actuator control signal ( 252 ) based upon a micro-actuator direction ( 204 ) to stimulate a micro-actuator ( 310 ); wherein said magnetic head is positioned near said track by an effect of said micro-actuator and by an effect of a voice coil motor ( 300 ), both included said hard disk drive; a voice coil motor control ( 220 ) creating a voice coil control signal ( 222 ) based upon a voice coil motor direction ( 212 ); amplifying ( 240 ) said voice coil control signal based upon a tuning gain ( 244 ) to create a tuned voice coil control signal ( 242 ) stimulating said voice coil motor ( 300 ); removing ( 200 ) a Positional Error Signal (PES) from a track following command ( 202 ) to create said micro-actuator direction ( 204 ); wherein said PES signal is based upon said effect of said voice coil motor and based upon said effect of said micro-actuator in positioning said magnetic head near said track; decoupling feedback filtering ( 260 ) said micro-actuator control signal to create a decoupling feedback signal ( 262 ); and removing ( 210 ) said PES and said decoupling feedback signal from said track following command to create said voice coil motor direction.