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In this paper, we propose a new robust observer for a vibration suppression control of a two mass system. Representative controller for a disturbance control has various kinds of disturbance observers(DOB), Hinfin and other nonlinear control schemes. Especially, both DOB and Hinfin are well known for their efficiency with respect to a disturbance rejection. In this paper we considered a problem that uses Hinfin and DOB together. If we use DOB and Hinfin as a cascade type, the performance of the control is not efficient due to a fault in that a systems of the degree increases when it designs a controller. Therefore we designed a type that compensates error of the DOB and Hinfin controller output regarding a control input. We implemented a DOB and Hinfin comparison simulation to prove the performance of controller that is proposed in this paper. Simulation was performed for a disturbance response with about a zero input. We found that the proposed controller revealed a small vibration. For a verification, we performed simulations by using MATLAB/SIMULINK.