A disk drive includes a transducer and a rotatable disk, which includes a plurality of tracks. A vibration state of the transducer relative to the disk is determined. The transducer is positioned relative one of the tracks based on a compensation scheme that varies based on the determination of the vibration state. The compensation scheme may be varied by selecting among output of two or more compensators, based on the determined of the vibration state of the transducer, to control positioning of the transducer. The compensation scheme may alternatively, or additionally, be varied by varying a contribution from a vibration state actuator compensator to the control of positioning of the transducer. The vibration state actuator compensator is configured to improve transducer track following while the transducer is subjected to vibration.