Abstract: A track-seeking and track-following servo encodement and detection system employs a servo pattern using a reference signal and control signals, the control signals having an orthogonal phase relationship to each other by cyclically revolving in phase by 90.degree., 180.degree., 270.degree., and repeating this pattern every four tracks.

Abstract: An improved electronic velocity measurement device for an accessing type disk drive combines a differentiated cyclically discontinuous displacement (position error) signal (PES) with integrated motor current signals to produce an accurate continuous velocity signal over the entire range of displacements of a linear actuator. Differentiation of the displacement signal is achieved by low bandwidth differentiator circuitry that is corrected for periodic reversal of the displacement signal by a unique fill-in signal derived from integrated motor current. In a specific embodiment, the fill-in signal is derived by the use of a second differentiator using a second displacement signal in space quadrature with the primary displacement signal.