A hard disk drive that utilizes a plurality of integrated gain compensation values to correct a non-linear position error signal (PES) function of the drive. The gain compensation values are generated, integrated and stored during an initial burn-in process of the drive. The PES is used in a servo loop to position a head relative to a track of a disk. The PES may have a non-linear function such that the signal is not representative of the actual position of the head. The integrated gain compensation values are used to correct the non-linear function so that the PES more accurately reflects the position of the head relative to the track.