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Abstract The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but also the frequency range of disturbance estimation improves yet the motion controller becomes more sensitive to the noise of measurement system. This trade-off is generally explained by considering only the noise of sensors such as encoders. However, the digital implementation of the robust motion controller may significantly influence the noise sensitivity and performance of disturbance estimation in practice. This paper shows that the conventional DOb implemented by estimating velocity is subject to waterbed effect when the design parameters (i.e., sampling-time, nominal plant parameters and the bandwidth of the DOb) are not properly tuned in the digital motion controller synthesis. Therefore, the bandwidth of disturbance estimation ....