In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust $H_{infty}$ control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.