Conventional adaptive notch filter based on an infinite impulse response (IIR) filter is well known. However, this kind of adaptive notch filter has a problem of stability due to its adaptive IIR filter. In addition, tap coefficients of this notch filter converge to solutions with bias error. In order to solve these problems, an adaptive notch filter using Fourier sine series (ANFF) is proposed. The ANFF is stable because an adaptive IIR filter is not used as an all-pass filter. Further, the proposed adaptive notch filter is robust enough to overcome effects of a disturbance signal, due to a structure of the notch filter based on an exponential filter and line symmetry of auto correlation.