Patent ID: 7768738

Claim:
A method of mitigating effects of disturbances of a disk drive, comprising: sensing a position error signal of a transducer coupled to a surface of the disk drive, the position error signal aiding in control of an actuator of the disk drive; generating a first disturbance signal by sensing a disturbance of a first sensor attached to the disk drive, the first disturbance signal aiding in control of the actuator; generating a second disturbance signal by sensing a disturbance of a second sensor attached to the disk drive, the second disturbance signal aiding in control of the actuator; reducing effects of the disturbances on the position error signal by adaptively adjusting a gain of the first disturbance signal and a gain of the second disturbance signal; comprising; estimating a rotational component of the first and second disturbance signals; estimating a translational component of the first and second disturbance signals; adaptively adjusting a gain of the first disturbance signal and a gain of the second disturbance signal in response to an estimated rotational component of the first and second disturbance signals as separated from an estimated translational component of the first and second disturbance signals as determined by a response of the position error signal to the disturbances; detecting average amplitudes of the first and second disturbance signals; adaptively adjusting gains of the first and disturbance signals only when the detected average amplitudes are within a specified range; rectifying the first and second disturbance signals; and low-pass filtering the rectified first and second disturbance signals.