A movable head position controlling device for magnetic recording and reproducing apparatuses. The position of a magnetic head is detected. The magnetic head is driven by an actuator in accordance with a driving signal. The driving signal is corrected on the basis of the estimated speed of the magnetic head, the absolute height of the movable head, the displacement of the magnetic head, or the output of an equivalent coil. The speed of the magnetic head is estimated by a speed estimating observer. The absolute height is detected by a magnetic field detecting element. The displacement of the magnetic head is detected by non-contacting sensors attached to a member which moves together with the magnetic head and a member which does not move together with the magnetic head, respectively.