An optical disk apparatus detects a predetermined tilt angle and a predetermined focus bias at least two detection points on an inner and an outer circumferences of the optical disk. On the basis of the predetermined tilt angle detected at the detection points, the apparatus estimates the predetermined tilt angle at a radial position of the optical disk, and also estimates a focus bias. The apparatus controls the tilt angle according to a radial position of target track and a focus bias on the basis of estimation results at the time of recording and reading data on the optical disk.