A servo system with a multi-track seek algorithm with a zero crossing detector
is presented. The zero crossing detector indicates when the tracking error signal
crosses zero. In some embodiments, a delay is executed between adjacent detections
of zero crossings in the tracking error signal, for example half a cycle. In some
embodiments, a zero crossing is detected when the tracking error signal passes
through a range around zero, the range having a positive value above zero and a
negative value below zero.
