The sampling rate of the position error signal is limited in most hard disk drives (HDDs) by the number of sectors and the spinning speed of the disks. The inter-sampling position can be estimated using multi-rate observer. However, it is sensitive to parameter change of the plant and disturbance. If the position signal of the inter-sampling can be obtained, the control performance may be improved even if the quality is low. In this paper, we discuss about the control problem using inter-sampling information whose quality is quite low. The inter-sampling position is estimated by multi-rate observers from the measured low quality position signal at inter-sampling of PES, and it is fed-backed to the feedback controller. The effectiveness of the proposed method is evaluated by simulations.