An adaptive feedforward controller design for tracking repeatable runout (RRO) in bit patterned media recording (BMPR) is proposed for single stage hard disk drives (HDD). The technique is based on a modified filtered-x least mean squares (MFX-LMS) algorithm with deterministic periodic input, and a novel variable step size that boosts both the convergence rate and the steady state error. Comprehensive simulations are provided to show the effectiveness of the proposed method.

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