A direct access storage device (DASD) servo control system includes a servo controller that makes an estimate of disk actuator arm position and velocity as for a regular, expected PES signal sample time, and then alters the estimate for an odd sample time using a simplified estimation function. The altered estimate is generated after determining the amount of time by which the odd sample time is longer than the regular sample time. An odd sample time event is recognized and the odd sample time is forced longer than the regular sample time by skipping a disk control signal computation interval. In this way, the estimated position and velocity of the disk arm is improved for odd sample times, even where the change in one PES sample time may be unrelated to the change in any subsequent PES sample times.
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