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This paper proposes a design method for short track-seeking control based on one degree of freedom (ODOF) control and initial value compensation (IVC). IVC uses nonzero initial values of the feedback controller to improve the step reference response of the ODOF tracking control system. This makes feedforward control unnecessary to shape the transient response of short track seeking. As a result, the amount of computation during short track seeking may be minimal. The proposed design method minimizes tracking errors in multirate control framework for a step reference input taking into account the inter-sampling behavior. The effectiveness of the proposed method is shown by simulation and experiment.