This article presents an optical module with a holographic optical element (HOE) for the small-form-factor (SFF) pickup head. Because of its dual-stage mechanical characteristics can perform the focusing action smoother and more precise for better fault and error tolerance, the servo system to control such a dual-stage system tends to be more effective than a conventional single-stage ODD system. However, it is not enough to restrain the unwanted outside disturbance. Therefore, the zero phase error tracking controller (ZPETC), which is very sensitive to improve the modeling error in motion control is used for this dual-stage miniaturized actuator. Experimental assessment of the holographic module and actuator reveals that the HOE module ensures the optical performance and stability of the system, together with a performance superior to a classic hinge type swing arm actuator, as attributed to enhanced durability and higher robustness.