Patent ID: 8922938

Claim:
A disk drive comprising: a disk; a head; and control circuitry comprising a servo control system operable to actuate the head over the disk, the control circuitry operable to: generate a disturbance signal in response to a vibration; generate an error signal of the servo control system; filter the disturbance signal with a first filter comprising a frequency response to generate a filtered disturbance signal; filter the filtered disturbance signal with a model of the servo control system to generate a compensated disturbance signal; filter the error signal with a second filter comprising the frequency response of the first filter to generate a filtered error signal; generate an adaptation control signal in response to the compensated disturbance signal and the filtered error signal; adapt an adaptive filter in response to the adaptation control signal, wherein the adaptive filter filters the disturbance signal to generate feed-forward compensation values; and apply the feed-forward compensation values to the servo control system to compensate for the vibration.