Data storage device employing nominal and adaptive multi-actuator decoupler

A data storage device is disclosed comprising a first actuator configured to actuate a first head over a first disk surface, and a second actuator configured to actuate a second head over a second disk surface. A seeking control signal is generated and used to control the first actuator to seek the first head over the first disk surface. The seeking control signal is filtered with a decoupler to generate a decoupler control signal, wherein the decoupler comprises a nominal decoupler and an adaptive decoupler. A tracking control signal is generated based on the decoupler control signal, and the tracking control signal is used to control the second actuator in order to access the second disk surface using the second head.