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This paper presents a nonlinear tracking control method for a hard disk drive (HDD) dual-stage actuator (DSA) system that consists of a voice coil motor (VCM) actuator and a piezoelectric (PZT) microactuator. Conventional track seeking controllers for DSA systems were generally designed to enable the VCM actuator to approach the target track without overshoot. However, we observe that this strategy is unable to achieve the minimal settling time when the target tracks are beyond the PZT actuator stroke limit. To further reduce the settling time, we design the VCM actuator controller to yield a closed-loop system with a small damping ratio for a fast rise time and certain allowable overshoot. Then, a composite nonlinear control law is designed for the PZT actuator to reduce the overshoot caused by the VCM actuator as the system output approaches the target track. Experimental results show that the proposed dual-stage servo outperforms the conventional dual-stage servo in short-span seeking and additionally achieves better track following accuracy than the VCM only single-stage servo.