Abstract: A staggered servo writing technique of a hard disk drive includes the steps of: setting a plurality of cylinders on disks to a group, writing servo information on each cylinder of the group set above by a specified head, and writing servo information on the remaining cylinders of the disks.

Abstract: A method of compensating for non-linear torque characteristics of an actuator servo control system in a hard disk drive. The method includes initializing all variables in a memory, which are necessary to operate the actuator servo control system, when power is turned on; unlatching a transducer head which is located in a parking zone; measuring voice coil motor torque constants of each track area of a disk, starting from an inner track area to an outer track area, calculating gains of the actuator servo control system using the voice coil motor torque constants and storing the gains of the actuator servo control system in the memory; and compensating for non-linear torque characteristics of the actuator servo control system, based on the gains of the actuator servo control system of each track area of the disk which are stored in the memory, when the transducer head shifts from track to track, during a track seek mode, to perform one of a read operation and a write operation.