In　this　paper,　a　modified　version　of　composite　nonlinear　feedback　(CNF)　control　method　is　proposed　to　achieve　fast　and　accurate　trajectory　tracking　for　linear　systems　subject　to　input　saturation　and　unknown　disturbances.　The　basic　idea　is　to　incorporate　a　reference　generator　which　constructs　the　target　state　vector　corresponding　with　the　trajectory　reference　signal,　and　an　extended　state　observer　which　estimates　both　the　system　states　and　the　disturbance,　into　the　framework　of　robust　CNF　control.　The　control　scheme　can　retain　the　fast　transient　performance　of　CNF　control,　and　at　the　same　time　eliminate　the　steady-state　bias　due　to　disturbances.　Simulation　studies　are　conducted　to　verify　that　the　control　method　can　achieve　good　transient　performance　and　steady-state　accuracy　in　various　trajectory　tracking　tasks　and　is　more　robust　against　the　amplitude　variations　of　disturbance/target　reference.