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Abstract

A method and apparatus for identifying and filtering a resonance frequency of a support structure supporting a read/write head in proximity with a data storage medium involves obtaining a particular sample of a position error signal (PES) frequency transform, preferably using Goertzel's algorithm. The velocity of the data storage medium is varied, and the magnitude of a particular PES frequency transform sample is computed at each of the velocities. A resonance frequency of the support structure is calculated using the velocity associated with the particular sample having a maximum magnitude. The effects of one or more resonance frequencies associated with a read/write head suspension may be canceled in a position error signal using one or more programmable filters provided in each servo loop. A processor programs the filters using the calculated resonance frequencies and adjusts to compensate for the additional lag introduced into the respective servo loops by the selected programmable filters. A method and apparatus for identifying one or more resonance frequencies of one or more read/write head support structures according to the principles of the present invention may be implemented in a data storage system and, preferably, implemented in-situ a data storage system without resort to circuitry external to the data storage system.

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First Claim