Data storage devices and methods with frequency-shaped sliding mode control

A data storage device, comprising:

• a microactuator configured to position a head relative to a disk;
• a coarse actuator configured to position the microactuator relative to the disk;
• and
• a servo controller configured to generate an adjusted position error signal based on a position error signal and an estimated microactuator position signal, and configured to filter the adjusted position error signal with a shaping filter to generate a filtered position error signal, and configured to provide sliding mode control of the coarse actuator based at least partially on the filtered position error signal;
• wherein the shaping filter is configured to provide frequency dependent filtering of the adjusted position error signal to generate the filtered position error signal.