Patent Document ID: 20070007921
Application ID: 11406177
Patent Flag: 0

Claim One:
1. A method of moving a disc drive arm in a nonlinear magnetic field, wherein is provided at least one disk drive arm physical parameter, comprising the steps of: (a) determining a torque bias of said disc drive arm within said magnetic field; (b) selecting a functional form, said functional form having at least one parameter associated therewith; (c) determining a value for each of said at least one parameters of said functional form, said functional form at least approximately representing said torque bias when said determined parameter values are substituted for each of said at least one parameters; (d) determining a control law using at least said functional form, said determined parameter values of said parameters, and said at least one disk drive arm physical parameters; and, (e) moving said disc drive arm within said nonlinear magnet field according to said determined control law.