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In this paper, we propose a novel design method of target trajectory for high-speed and high-precision head positioning of a hard disk drive (HDD) system. To realize smooth acceleration and deceleration, the derivative of jerk is considered not to activate any mechanical vibrations. We applied the well-known optimal control theory to fix the initial and terminal conditions. Moreover, we show that various performances can be improved by introducing time-varying weighting coefficients. Some experimental results using a 2.5-in HDD are shown to verify the effectiveness of the proposed method.