In this article we develop an approach to design track-seeking controller for hard disk drive. We convert the current multi-sine seek approach to an equivalent linear programming problem that can be solved efficiently and accurately. We demonstrate the efficacy of this approach by numerical case studies that are otherwise infeasible in the current approach. We further derive the time optimal track seeking as a three-piece constant control. Our approach can also be extended to deal with other sophisticated requirements on smoothness, jerk and resonance.