A disk drive has a data recording medium disk, a head disposed facing a recording surface of the disk, for reading and writing data, a positioning mechanism for supporting and moving the head, a position detector for detecting the position of the head and outputting a position detection signal, and a control unit for processing the position detection signal and outputting a position control signal to the positioning mechanism. The control unit calculates a target acceleration signal for a given target track so as to make a turnaround frequency of a frequency component of the target acceleration signal coincident with a resonance frequency of the head positioning mechanism, calculates a target position for a head positioning operation in accordance with the target acceleration signal, calculates a position command value by inputting the target position signal to a model (inverse model) of an approximate inverse system to a position control system which includes the head positioning mechanism and the position detector, and outputs a position tracking error to the positioning mechanism, the position tracking error being the difference between the position command value and the position detection signal of the head.