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Very fast, precise and robust servo algorithm and tracking algorithm for a probe storage system are proposed, which use only probes without any additional high-resolution position sensors. Servo algorithm uses the values read by servo probes as the coordinate of every data bit with one-to-one correspondence so that it provides high accuracy, short seek-time, and robustness. Also the concept of virtual subsection of data field is introduced to reduce the number of the servo probes. Tracking algorithm can detect two-axis position errors used for off-track control and synchronization independently and continuously. By vibrating the scanner and by multiplying two decomposition signals, position errors are modulated and demodulated from probe reading signal. Servo+track code is designed to reduce total number of additional probes for servo and tracking and to have stable noise characteristics.