1. A method of determining an improved model reference generator of a control system substantially replicating an operation of a plant of a data storage device for use in controlling the operation of the plant comprising steps of: (a) providing an initial model reference generator to the control system, the initial model reference generator comprising a table with an empirically determined filter coefficient; (b) applying a current profile to the model reference generator and to the plant; (c) operating the plant in an open loop control mode while applying the current profile to the plant; (d) observing a response of the plant in the open loop control mode; (e) generating a response of the model reference generator to the application of the current profile to the model reference generator; and (f) replacing the empirically determined filter coefficient in the table with an optimized filter coefficient determined from the response of the plant and the response of model reference generator to the application of the current profile, the improved model reference generator comprising the table with the optimized filter coefficient.