Patent ID: 7116607

Claim:
An apparatus to exclude a disturbance for use with a recording medium drive system which records and/or reproduces data with respect to a recording medium, the apparatus comprising: an actuator to change a position of a pickup, which transfers data on or from a track of the recording medium, in response to a combination compensation signal; an error detector to detect an error between the positions of the actuator and the recording medium when the actuator deviates from referenced upper, lower, right and left positions of the recording medium; a first compensator to receive the detected error and to output a next first compensation signal that allows the actuator to actuate the pickup along the recording medium in upper and lower directions, and right and left directions; and second compensation means for outputting a next second compensation signal to be combined with the next first compensation signal to provide the combination compensation signal used by the actuator to change the position of the pickup, the output next second compensation having a periodic disturbance removed by compensating for the error detected by the error detector corresponding to a modeling error of the actuator, combining the compensated error and previous first and second compensation signals, and filtering the combined result at a predetermined bandwidth.