Patent ID: 7330332

Claim:
A method for high-speed compensation of a repeatable run-out (RRO) error in a hard disk drive, in which a head position control of the hard disk drive includes a track seeking mode where a head is moved from a current track to a vicinity of a target track, a settling mode where the head is safely guided from the vicinity of the target track to a track center, and a track-following mode where the head is maintained at a center of the target track, the method comprising: a) obtaining a value of a position error signal (PES) of the hard disk drive, the PES being a relative position signal of the head with respect to the center of the target track of a disk; b) determining whether the head is in the settling mode; c) if the head is in the settling mode, compensating the RRO error without feeding back the PES; and d) if the head is in the track-following mode, compensating the RRO error by feeding back the PBS.