A servocompensator with performance of frequency following is applied to a tracking control system that simulates disk drive tracking systems. In such systems, the misalignment of the disk causes the reference signal to include sinusoidal components. The applied servocompensator is characterized by using signals synchronized with the reference signal in calculating the control input by means of convolution integral. Since the transmission zeros of the closed-loop system are generated at the same locations as the unstable poles of the reference signal automatically, the pole-zero cancellation necessary for asymptotic regulation is achieved. The efficacy of the servocompensator was confirmed experimentally.