Various embodiments of the present invention allow for the generation of at least one estimated value of a first parameter that is derived from a regularly measured value of a second parameter. In addition, a single control feedback signal can be adjusted via updating of the estimated and regularly measured values in a control feedback loop. At least one spiral track can be written to storage media based on the single control feedback signal, where the single control feedback signal can be received from an compensating circuit that receives the at least one estimated value of the first parameter, which can refer to position, and the at least one regularly measured value, which can refer to velocity.