A disturbance attenuation method in control system, called model based disturbance attenuator (MBDA), is proposed and its properties are studied in this paper. It is very simple and easy to implement. It is shown that the MBDA is extremely robust with respect to large variation of load inertia. The MBDA is implemented in a position control system of a CNC machining center. The MBDA attenuates external disturbances significantly in the cutting process containing high frequency components as well as the frictional forces containing large DC-component. To show the effectiveness of the MBDA, several other controllers are also implemented in a position control system of a CNC maching center and the experimental results are compared with one another.
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