Abstract: A velocity estimator for a voice coil motor driven actuator is implemented by integrating coil current to generate the estimated velocity and integrating the estimated velocity signal to produce an estimated position signal. The estimated position signal and a measured position signal are compared and the derived error signal is applied as negative feedback to the summing junctions at the inputs of each of the integrators. The use of an integrated signal results in reduced noise influence on the position error signal which, in the environment of a data disk drive, results in more reliable recording of track crossings and the ability to meet rigid product specifications using simple servo patterns.