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The size of digital content has been on the increasing in recent times, and this has been led to the need for correspondingly scaling up the capacity of digital storage media. Therefore, a high-precision focusing and tracking control system are required for an optical disk. A pickup system for optical disks operates in the horizontal and vertical directions for tracking and focusing, respectively. Thus, this paper proposes a new single-rate two-dimensional feedforward control system, which is the concurrent control of focusing and tracking. The feedforward controller is based on a zero phase error tracking (ZPET) control. Experimental results show the effectiveness of the proposed control system. [ABSTRACT FROM AUTHOR]