A control system for a tape drive that uses position error signals (PESs) generated by a tape head assembly of the tape drive during longitudinal movement of a tape through the drive to dynamically adjust a lateral and/or angular position of tape to enhance tape drive performance (e.g., the ability of a tape head assembly to precisely follow one or more data and/or servo tracks on the tape). In one arrangement, the PESs and/or PES metrics are used as feedback into the system to steer the tape by moving one or more tape path guides until subsequently generated PESs or PES metrics have been optimized or have at least moved back into an acceptable range or to acceptable levels. The disclosed control system facilitates achieving increased stringencies on PES minimization that come with increased tape drive magnetic track densities.