In illustrative aspects, a system comprises an actuator; a control object, controlled by the actuator; and one or more processing devices. The one or more processing devices are configured to perform positioning control of the control object via the actuator, wherein performing the positioning control comprises: generating a feedforward polydyne positioning control input; and outputting the feedforward polydyne positioning control input to the actuator.

A hard disk comb includes: a main body including a groove; and an arm joined to the main body. A part of the arm is disposed inside the groove, and an opening edge of the groove is joined to an upper surface of the arm.

First and second tracks are read simultaneously via a first reader mounted in a head-gimbal assembly. The first reader provides a first signal based on detecting a total perpendicular field of the first and second tracks. The first and second tracks are read simultaneously via a second reader mounted in the head-gimbal assembly. The second reader provides a second signal based on detecting a total longitudinal field of the first and second tracks. At least one of a position error and a timing error of at least one of the first and second readers are determined based on user data read via the respective first and second signals.

A data storage device is disclosed wherein multiple voice coil motors (VCMs) are unloaded using a back electromotive force (BEMF) voltage generated by a spindle motor. A velocity and position of each VCM is measured, and a priority assigned to each VCM based on the measured velocity and position. During a delay interval, the BEMF voltage is used to apply a first brake voltage to a high priority VCM and to apply a second brake voltage to a low priority VCM, wherein the second brake voltage is lower than the first brake voltage. After the delay interval, the BEMF voltage is used to apply the first brake voltage to the high priority VCM and to apply a third brake voltage to the low priority VCM, wherein the third brake voltage is higher than the second brake voltage.