In the apparatus and method of the invention, a servo signal reproduction unit generates a PES from a servo signal reproduced from a magnetic tape, and a frequency conversion unit performs FFT processing of the PES to generate frequency component information. Then, a filter value generation unit generates filter values based on the frequency component information and writes these to a memory. When recording various data signals to the magnetic tape, the filter values are read from the memory and a control filter serving as a notch filter is incorporated into a feedback control for a tracking servo. This enables periodic and narrow-band noise to be removed from a PES, consequently reducing PESs. Accordingly, learning-type optimum notch filter control that allows a magnetic head to follow recording tracks at high speed and with high precision is possible even when the recording track width is reduced and the tape speed is increased.