I. Introduction
Optical disk drives such as CD-ROM and DVD drives are widely used to store text, audio, image or video data. Minimization of the off-tracking and off-focusing errors in writing and reading data is a main issue when developing disk drives, because these errors are directly connected to the reliability of the drives. The off-tracking and off-focusing errors can be reduced by the servo control when vibration level of an optical disk drive is relatively low. However, if excessive vibration occurs, it is practically impossible to overcome the errors by using only the servo control without reducing vibration. Particularly, when a ‘wavy’ disk is spinning on an optical disk drive, severe vibration may be observed and the errors cannot be avoided at a certain rotating speed. The wavy disk in this paper represents a deformed or bent disk. A normal disk is easily deformed to a wavy disk by careless use, for instance, application of heat or an external force to the disk.