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The design and analysis of a high performance embedded or sector servo system is presented. The advances in the embedded servo system yield increased positioning accuracy, reduced settling time, and reduced sensitivity to missed or rejected sector(s). A servo system suitable for an one hundred ninety six tracks per centimeter cartridge disk drive with under two millisecond fixed/removable settling time has been demonstrated. The two and one-half (2 1/2) percent of the data storage area occupied by the thirty two (32) embedded servo sectors demonstrated a track density comparable to non-removeable disk files using three and two-tenths (3 2/10) percent.