Patent ID: 6950271

Claim:
A disk drive comprising: actuator means for positioning a head relative to a disk; driving means for driving the actuator means; voltage detection means for detecting a voltage generated when driving the actuator means, and for outputting a voltage signal; disturbance estimation means for estimating a magnitude of a disturbance applied to the head from a driving signal for the driving means and the voltage signal, and for generating a disturbance estimation signal; position detection means for generating a position error signal corresponding to a current position of the head from servo information recorded on the disk in advance and detected by the head; position control means for generating a position control means corresponding to the position error signal; and correction means for combining the position control signal with the disturbance estimation signal to obtain the driving signal, wherein the disturbance estimation means comprises: comparison means for comparing the disturbance estimation signal generated by the disturbance estimation means with the voltage signal, and for outputting a deviation signal; and addition means for adding a signal obtained by multiplying an integral signal, obtained by integrating the deviation signal, by a first coefficient and a signal obtained by multiplying a proportional signal proportional to the deviation signal by a second coefficient, and for generating the disturbance estimation signal.