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Layer jump operation is a vertical seek operation of an actuator between adjacent data layers in an optical disc. As a number of the data layers are raised for high capacity data, the layer jump gradually gains importance for fast playing and recording. Therefore, a systematic design methodology for the layer jump is required to guarantee layer pull-in stability and robustness of model uncertainty. In this paper, a layer jump strategy is proposed for minimizing transient motion and overcoming the effect of model uncertainty by estimating the current velocity of the actuator. The proposed algorithm has been implemented in a system-on-chip for a multi-layered Bluray disc drive. The experimental results show the notable performance of the proposed algorithm.