This　article　presents　an　improved　disturbance　estimation　and　rejection　method　based　on　equivalent　input　disturbance　(EID)　with　H-infinity　robust　performance　for　a　time-varying　uncertain　system.　The　analysis　and　synthesis　are　conducted　in　the　frequency　domain.　Different　from　conventional　two-degree-of-freedom　(2-DOF)　H-infinity　control,　some　related　weighting　functions　are　introduced　into　a　new　devised　structure　to　separate　the　rejection　of　the　parameter　uncertainty　and　disturbance　from　reference　tracking.　Compared　with　the　existent　EID-based　approaches　designed　in　the　time　domain　of　which　the　robust　performance　is　not　addressed,　H-infinity　robust　performance　of　the　closed-loop　system　is　guaranteed　in　this　design.　Treating　the　difference　between　the　real　plant　and　an　ideal　plant,　namely,　the　overall　effect　of　the　parameter　uncertainty　and　disturbance,　as　an　EID,　an　EID　estimation　and　compensation　strategy　is　then　established　to　cancel　out　the　effect　of　the　EID　in　system　output.　Furthermore,　a　constant　scaling　matrix　is　introduced　into　system　design　to　reduce　the　conservativeness　of　a　quadratic　stabilization　condition.　Finally,　a　comparison　with　conventional　2-DOF　robust　H-infinity　control　illustrates　the　advantages　of　the　developed　method.