A data storage device is disclosed comprising a voice coil motor (VCM) and a secondary actuator configured to actuate a head over a disk. A position error signal (PES) is generated based on servo data recorded on the disk, and a first control signal is generated based on the PES. The PES is adjusted based on the first control signal to generate a first adjusted PES, and a second control signal is generated based on the first adjusted PES. A secondary actuator control signal is generated based on the first control signal and the second control signal, wherein the secondary actuator control signal is applied to the secondary actuator. The first adjusted PES is adjusted based on the second control signal to generate a second adjusted PES, and a VCM control signal is generated based on the second adjusted PES, wherein the VCM control signal is applied to the VCM.