Patent ID: 7525753

Claim:
A disk drive comprising: a head disk assembly (HDA) including a data storage disk, a transducer configured to read data from the disk and/or to write data to the data storage disk, and an actuator configured to position the transducer relative to the data storage disk; a rotational acceleration sensor positioned on the HDA and configured to generate a rotational acceleration signal proportional to a rotational acceleration of the HDA about an axis defined relative to a data storage surface of the data storage disk; a position error sensor configured to generate a position error signal indicative of a difference between a desired position of the transducer and an actual position of the transducer relative to a track of the data storage disk; a controller that is configured to control the actuator to move the transducer to a target track during a seek operation, configured to dynamically adjust a gain factor in response to the position error signal and the rotational acceleration signal during a settle period following the seek operation, configured to multiply the rotational acceleration signal by the gain factor to generate an adjusted rotational acceleration signal and to combine the adjusted rotational acceleration signal with the position error signal to generate an adjusted position error signal, and configured to move the transducer in response to the adjusted position error signal.