Abstract: A servo method and system for generating a position error signal in a disk drive including a magnetic data storage disk rotating relative to a base, a data transducer assembly positioned at concentric data tracks by a rotary actuator referenced to the base and controlled by a digital servo system, the data transducer assembly having a magnetoresistive (MR) read element, the digital servo system employing multiple servo bursts in servo sectors embedded within the data tracks. During servo track positioning/following for each target head position relative to a track, a plurality of the servo bursts are selected, and combinations of the burst amplitudes of the selected servo bursts are obtained. A substantially continuous position error signal (C_PES) is generated based on the combinations of the burst amplitudes, indicating radial position of the read head relative to the target position.