One of the main goals with respect to the development of micro hard disk techniques is to design one kind of hard disk with large capacity, orientation of high precision, rapid seeking and strong stability, in which control techniques are one of the vital tasks to be overcome. Since friction force, inertia force, and airflow are the main factors to influence slider head, in this paper, on the basis of the classical model of voice coil motor, an uncertain nonlinear system is proposed by combining these factors of disturbance of slider Read/Writer and introducing a rotational angle of hard disk driver. Accordingly, in order to solve the problem of track seeking of the system, its nonlinear observer and adaptive feedback controller are designed in terms of Lyapunov stability theory and convex optimization technique of linear matrix inequality. Simulation results demonstrate that the outputs of the system can rapidly track the arbitrary reference signal with high precision.