This paper presents an approach to an Advanced Fast Disturbance Rejection Proportional-Integral (AFDR-PI) control system based on a benchmark plant model description. The controller is designed for a balance between performance (response time) and robustness (stability margins). The proposed algorithm associated with the mathematical model has been carried out under MATLAB/SIMULINK environment. A comparison between the Proportional-Integral (PI) controller and AFDR-PI controller has been introduced with applied step input disturbance to the input of the control system. The conclusion is that the AFDR-PI controller has the same tracking performance (time response requirements) as the PI controller, and succeeds to reject the disturbance signal higher than the PI controller (robustness requirements).