Due to the existence of various sources of delays, the dynamical model of HDD (Hard Disk Drive) servo systems is actually infinite dimensional, although most of the control algorithms simplified the model with Padé expansions or other finite dimensional approximations. In this paper, a robust loop shaping algorithm is developed for the HDD model with delays by using an h ∞ synthesis approach for infinite dimensional systems. The h∞ controller is derived with a structure of an internal feedback loop including an FIR (Finite Impulse Response) filter and an IIR (Infinite Impulse Response) filter, which facilitates non-fragile implementations. Comparisons to other robust control methods are given and the advantages of this approach are demonstrated in terms of improvement of TMR (track misregistration) and tracking TPI (Track-per-Inch) capability.