Digital versatile disc $($DVD$)$ players incorporate several control systems for their operations. The control tasks include $(1)$ keeping the laser beam focused on the disc surface, $(2)$ fast track selection, $(3)$ disc rotation speed control, and $(4)$ following a track accurately. In order to follow a track, the pickup$-$head radial position is controlled via a voltage that operates a voice coil embedded in a magnet configuration. For a specific DVD player, the transfer function is given by P s X s V s $06310363054$ s s$23054210042482$ s s$224822$