We have developed a holographic data storage system using angular-multiplexing recording that has a large capacity of 2 TB and a data transfer rate of 1 Gbit / s. To read a hologram recorded on a holographic disc at high speed, it is necessary to control the relative position shift between a hologram recorded on a disc and a readout optical system. However, in angular-multiplexing data storage systems, the optical system has no moving mechanism, unlike conventional optical discs such as Blu-ray Discs™. Therefore, it is difficult to control the disc position with high precision and to reduce the settling time of the positioning because the holographic disc has no physical structure for the position control mechanism to control the relative position shift. In the systems, a disc mounted on a disc stage is moved to a position where the signal-to-noise ratio of the reproduced hologram becomes the maximum value. Hence, we present a servo control system based on a shift of the Nyquist aperture using a real-time position error signal to control the disc position. In experiments, a positioning accuracy of ±15 μm and a settling time of 8.5 ms for our angular-multiplexing data storage system using a nonlinear parabolic focus position error signal have been observed.