Acceleration feedback techniques have been used in control systems for a long time in order to improve thestiffness. Basically, the acceleration of the motor is calculated using speed or position measurements and the currentcommand is adjusted using the acceleration data for avoiding deviations from the commanded speed. This method hasto deal with two challenges. The first challenge is calculating the acceleration correctly. If it is calculated by doubledifferentiation of position feedback of a servo motor, it may lead to a high amount of noise. On the other hand, if observertechniques are used, the error and variation in system parameters and quantization noise in the measured current maylead to incorrect calculation of the motor acceleration. The second challenge is avoiding performance degradation in thetransient response of the system and preventing oscillations. Since acceleration feedback will try to avoid any accelerationin the system, it may severely affect the transient-state performance. This paper presents a disturbance rejection methodthat does not depend on system parameters and that does not affect the transient-state response of the system. Themethod provides very significant improvement in disturbance rejection over a wide frequency range. The magnitude ofdisturbance response was –29.6 dB in the original scheme at its peak frequency of 5.17 Hz; using the proposed method,it improved to –44.7 dB at the same frequency.