Apparatus and method for performing seek-servo routine of hard disk drive

PURPOSE: A servo device of a hard disk drive and a method therefor are provided to set an acceleration trajectory in consideration with time delay, so as to eliminate overshoot and correctly and ideally trace an actual position of a head to a desired position trajectory on a track. CONSTITUTION: A delay(40) of an actuator(38) inputs an acceleration command having an acceleration trajectory component preceding a position trajectory and a speed trajectory by a predetermined time through an input terminal(IN), and delays the inputted acceleration command for the predetermined time, then outputs a delayed result to a first integrator(42) as acceleration. The first integrator integrates the acceleration output from the delay, and outputs an integrated result to a second integrator(44) as speed. The second integrator integrates the speed output from the first integrator, and outputs an integrated result through an output terminal(OUT) as position information(y(t)) on the position of a head.