Patent ID: 8767332

Claim:
A disk drive comprising: a disk; a head; and control circuitry comprising a servo control system operable to actuate the head over the disk, the control circuitry operable to: measure a vibration signal VS(k) representing a disturbance in the servo control system; predict a first future value of the vibration signal VS(k) based on: VS1( k+ 1)=α 1 [VS( k )−VS( k− 1)]+VS( k ) where α 1 is a first scalar corresponding to a first frequency range; and predict a second future value of the vibration signal VS(k) based on: VS2( k+ 1)=α 2 [VS( k )−VS( k− 1)]+VS( k ) where α 2 is a second scalar corresponding to a second frequency range different from the first frequency range.