A hard disk drive control module has a feed-forward signal input port communicatively coupled with a reference model. The hard disk drive control module has a tracking error signal input port communicatively coupled with a magnetic transducer of the hard disk drive. The hard disk drive control module has an error calculator module configured for determining a difference between an estimated tracking error signal in response to a first feed-forward signal and an actual tracking error signal of the magnetic transducer in response to the first feed-forward signal. The hard disk drive control module has a feed-forward signal adjuster module configured for adjusting a gain and a phase for a second feed-forward signal based on the difference between the estimated tracking error signal in response to the first feed-forward signal and the actual tracking error signal of the magnetic transducer. The hard disk drive control module has a feed-forward signal adjustment output port communicatively coupled to the second feed-forward signal.