| 摘要 |
A disc storage system is provided which includes a servo control loop for compensating for repeatable runout. Repeatable runout is compensated using table entries of the form Comp Value(k+1)=Comp Value(k)+KPHI(z)RRO(k), where K is a learning rate; k is iteration number PHI(z) is a filter and RRO(k) is the repeatable runout error. Further, rho(jomega)=|1-KPHI(jomega)/(1+PC(jomega)|<1 needs to be satisfied, where PC(jomega) is an open loop frequency response of the servo loop. The filter can comprise a order filter.
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