Patent ID: 6999267

Claim:
A method of determining a repeatable runout (RRO) compensation value set for a data track on a magnetic disk in a disk drive, wherein the track comprises a plurality of embedded sectors that define a circumferential path having RRO requiring compensation during data read and write operation, the method comprising: track following along the track and determining a position error signal e for each servo sector t, iteratively learning a RRO compensation value u for each servo sector t of the track based on the equation: u k ⁡ ( t - M ) = u k - 1 ⁡ ( t - M ) + ∑ i = 0 M ⁢ ⁢ α i ⁢ e k - 1 ⁡ ( t - ( M - i ) ) where k is a disk revolution number during track following, α i are learning gain coefficients, and M is greater than or equal to 2 and less than a total number N of servo sectors for the track.