Abstract: Because the load of heavy-load rough grinding machine has large inertia and low damping, a couple of virtual zeros exist in the open-loop transfer function, and the open-loop bandwidth is also affected by the characteristics of load. High-speed rotating wheel will generate eccentric interference of high frequency and large magnitude, and a simple output feedback method can not suppress the interference because of the low frequency response of the system. In this paper, by adopting nonlinear tracking differentiator to pick up the state variable and introducing nonlinear feedforward coefficient, virtual zeros and the impact on open-loop bandwidth by the load are eliminated, and the outside displacement disturbance and eccentric disturbance are significantly rejected.