Patent ID: 8542455

Claim:
A disk drive comprising: a disk comprising a plurality of servo tracks, wherein each servo track comprises a plurality of servo sectors; a head; an actuator for actuating the head over the disk in response to an actuator control signal; and control circuitry operable to: read the servo sectors to generate a first sequence of control samples x[k] at a sample rate corresponding to a frequency of the servo sectors; upsample by a factor of N the first sequence of control samples x[k] to generate a second sequence of control samples y[k i ] according to: y ⁡ [ k i ⁢ | i = 1 : N ] = ( 1 - i N - γ ) ⁢ u ⁡ [ k - 1 ] + ( i N + γ ) ⁢ u ⁡ [ k ] where γ is a scalar greater than or equal to zero and less than one; and generate the actuator control signal in response to the second sequence of control samples y[k i ].