Patent ID: 7626782

Claim:
A disk drive comprising: disk; an actuator arm; a head coupled to a distal end of the actuator arm; a voice coil motor (VCM) for rotating the actuator arm about a pivot; and control circuitry operable to seek the head from a first radial location over the disk to a second radial location over the disk by: initializing a reference signal; initializing a feed-forward control signal; initiating the seek; generating and saving a position error signal (PES) representing a position error of the head relative to the reference signal; filtering the PES with a compensation filter to generate a feed-back control signal; combining the feed-back control signal with the feed-forward control signal to generate a VCM control signal; and after the seek, processing the saved PES using an iterative learning control (ILC) algorithm to adjust at least one of the reference signal and the feed-forward control signal.