Patent ID: 7466101

Claim:
A head positioning control method for controlling positioning of a head to a predetermined position of a disk storage medium by an actuator, comprising the steps of: computing a position error from a target position of said head and a current position acquired from said head; generating state information using an estimated gain of said actuator according to an estimated position error between said position error and an estimated position of an observer, and computing a control value of said actuator from said state information; computing a disturbance suppression value of said actuator from state information by generating the state information using an estimated gain determination from a disturbance model defined by a transfer function of which a denominator is a numerator of a filter in which degrees of denominator and numerator for shaping a sensitivity function are the same, according to said estimated position error; and adding said control value and said disturbance suppression value, and driving said actuator, wherein said disturbance suppression value computing step further comprises: a step of generating state information using an estimated gain determined from a disturbance model of which pole is zero point of said numerator of the filter for shaping said sensitivity function according to a desired disturbance frequency.