A tracking control unit for an optical disk drive comprises a TES detection circuit for detecting a tracking error signal (TES) in an output of a photodetector included in a stationary optical system, a frictional state prediction circuit for predicting a frictional state between guide shafts and a carriage on the basis of the TES detected by the TES detection circuit, a phase compensation filter for compensating for a phase difference of the TES detected by the TES detection circuit so as to stabilize a tracking control system on the basis of the result of the prediction performed by the frictional state prediction circuit, and a driver for moving the carriage in a direction in which a tracking error can be corrected for according to an output of the phase compensation filter and for thus controlling tracking.