A disk drive is disclosed comprising a disk comprising tracks defined by servo sectors, a head, and control circuitry comprising a servo control system operable to actuate the head over the disk in response to the servo sectors. After seeking the head to a first track, a position error signal (PES) is generated representing a difference between a target location for the head and a measured location for the head. A sinusoidal control signal is generated in response to the servo sectors, and a third point of the sinusoidal control signal is generated based on a first point and second point of the sinusoidal control signal and independent of the PES, wherein the first, second and third points correspond to respective servo sectors. A feed-forward compensation value is generated based on the third point of the sinusoidal control signal using a feed-forward compensator.