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To address this, a novel load-side resonance suppression scheme employing an adaptive state feedback is proposed, enabling free adjustment of the load-side damping, which can mitigate the load-side oscillations and improve system resonance suppression efficiency. In addition, since the servo system requires accurate mechanical parameters to properly configure the state feedback, two decoupled sliding-mode observers (DSMOs) are proposed to identify load torque and load inertia simultaneously. Interestingly, each DSMO incorporates an innovative decoupling term that eliminates parameter estimation coupling with motor speed errors, significantly reducing identified value chattering. Meanwhile, an improved reaching law is also designed as the gain factor to achieve the balance between rapid identification convergence and effective chattering suppression. 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