| 摘要 |
A disc drive controller (130, 170) corrects for rotational vibration disturbances of a head position. The controller (130, 170) includes multiple sets (200, 202) of adjustable controller gains. The controller (130, 170) compares an accelerometer output (156, 188) to an acceleration threshold and generates conditional branches as a function of the comparison. The controller (130, 170) updates one set (200) of the adjustable controller gains within a computational time limit after a first conditional branching. The controller updates a second set (202) of the adjustable controller gains within the computational time limit after a second conditional branching.
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