Patent ID: 7215499

Claim:
A method of controlling seeking of a transducer that is adjacent to a rotatable data storage disk in a disk drive, the disk drive having an actuator for positioning the transducer relative to the disk, the method comprising: controlling the actuator to move the transducer toward a target track on the disk during an initial phase of a seek mode during which the transducer is primarily accelerated toward the target track; controlling the actuator to settle the transducer onto the target track during a settle phase of the seek mode which follows the initial phase; determining an initial position, an initial velocity, and an initial acceleration of the transducer at a phase switch time at about when control of the actuator switches from the initial phase to the settle phase of the seek mode; and generating feed-forward control information based on the determined initial position, initial velocity, and initial acceleration of the transducer, and wherein controlling the actuator to settle the transducer onto the target track during the settle phase of the seek mode is responsive to the feed-forward control information, wherein determining the initial acceleration of the transducer at the phase switch time comprises estimating the initial acceleration based on magnitude of a current command provided to the coarse actuator at the phase switch time.