Abstract: To improve the track pull-in performance in the servo control of an optical disk device, track pull-in is performed by driving the objective lens by an actuator, outputting an electrical signal according to the amount of reflected light from the optical disk, generating a focus error signal and a tracking error signal from the output electrical signal, outputting a focus control signal based on the focus error signal to drive the actuator in the rotation axis direction, outputting a tacking control signal based on the tracking error signal to drive the actuator in the radial direction of the optical disk, controlling the speed of the actuator so that the cycle of the tracking error signal is kept substantially constant, moving the objective lens in the radial direction before the start of the speed control, and supplying the tracking control signal to the actuator after the start of the speed control.