US Patent 7944313 Calibrating control loops

Systems and techniques to calibrate a control loop include, in at least one implementation, a system including the control loop configured to generate a clock signal and lock the clock signal to timing marks detected on a machine readable medium, a repetitive error correction module configured to receive a predicted phase and a corrected phase error for the clock signal, generate a predicted repetitive phase disturbance using the predicted phase and the corrected phase error for the clock signal, and calibrate a phase error to compensate for variations in repetitive phase errors in the clock signal using the predicted repetitive phase disturbance; and a servo track generator configured to generate servo tracks using the clock signal.