Patent ID: 8379342

Claim:
A method for compensating for rotational vibration (RV) during operation of a disk drive, the disk drive including a rotatable magnetic recording disk having a plurality of concentric data tracks containing servo positioning information; a recording head movable across the disk, the head being capable of reading data and servo positioning information in the data tracks; a voice-coil-motor (VCM) for moving the head; first and second linear vibration sensors; and a servo control processor responsive to a position error signal (PES) from the servo positioning information for generating a VCM control signal; the processor-implemented method comprising: applying a first gain factor to the signal from the first sensor to obtain a scaled first sensor signal; applying a second gain factor to the signal from the second sensor to obtain a scaled second sensor signal; generating a RV signal from the difference in the scaled first and second sensor signals; applying the RV signal to the VCM control signal; measuring the PES after the RV signal has been applied to the VCM control signal; and adjusting the first and second gain factors in response to the measured PES.