Patent ID: 8902535

Claim:
A disk drive comprising: a disk comprising servo information; a head; and control circuitry comprising a servo control system operable to actuate the head over the disk in response to the servo information, the servo control system operable to: generate a position error signal while executing a first plurality of seek operations to seek the head over a seek length, and adapt first feed-forward compensation values for a first segment of the seek length using an iterative learning control algorithm based on the position error signal generated over the first segment during the first plurality of seek operations; and generate the position error signal while executing a second plurality of seek operations to seek the head over the seek length, and adapt second feed-forward compensation values for a second segment of the seek length using the iterative learning control algorithm based on the position error signal generated over the second segment during the second plurality of seek operations; wherein the servo control system is operable to execute the second plurality of seek operations using the first feed-forward compensation values generated for the first segment of the seek length without adapting the first feed-forward compensation values using the iterative learning control algorithm based on the position error signal generated over the first segment during the second plurality of seek operations.