A disk drive is disclosed comprising control circuitry for generating a control signal applied to a VCM in response to a position error signal (PES) generated from reading embedded servo sectors and a feed-forward compensation value that compensates for a repeatable runout (RRO) disturbance. The feed-forward compensation value is generated for each servo sector in response to an RRO estimate S computed recursively for each servo sector according to:.lamda..function..times..times..times. ##EQU00001## wherein: .lamda. is a predetermined fraction; PES.sub.i is the position error signal generated for a selected servo sector during an ith revolution of the disk; and n represents a number of disk revolutions.