This　paper　extends　the　composite　nonlinear　feedback　(CNF)　control　method　to　linear　systems　subject　to　input　saturation　and　non-constant　disturbance.　The　unknown　disturbance　is　treated　as　an　extended　state　variable　to　be　augmented　with　the　plant　model,　and　then　an　extended　state　observer　is　designed　to　estimate　both　the　states　and　the　disturbance,　and　a　disturbance　compensation　mechanism　is　incorporated　into　the　CNF　framework,　so　as　to　alleviate　the　steady-state　bias　due　to　disturbances,　while　retaining　the　fast　transient　performance　of　the　original　CNF　control.　Both　constant　and　varying　disturbances,　either　matched　or　unmatched,　can　be　handled　within　this　control　scheme.　Closed-loop　stability　and　set-point　tracking　performance　are　analyzed　theoretically.　The　proposed　control　scheme　is　then　applied　to　a　two-inertia　servo　drive　system.　Simulation　studies　are　conducted　to　verify　its　superior　transient　performance　and　steady-state　accuracy　in　set-point　tracking,　as　well　as　the　robustness　against　the　amplitude　variations　of　disturbance/set-point.　©,　2014,　South　China　University　of　Technology.　All　right　reserved.