A　new　robust　composite　nonlinear　feedback　(CNF)　control　method　is　proposed　to　achieve　fast　and　accurate　set-point　tracking　for　linear　systems　subject　to　input　saturation　and　disturbances.　The　basic　idea　is　to　incorporate　disturbance　estimation　and　compensation　into　the　framework　of　the　original　CNF　control　so　as　to　eliminate　the　steady-state　bias　due　to　disturbances　and　retain　the　fast　transient　performance　of　the　original　CNF　control.　There　is　no　additional　integration　action　introduced　in　the　new　method,　which　is　in　contrast　with　the　previous　work,　i.e.,　the　enhanced　CNF　control.　The　new　method　is　applied　to　design　a　control　law　for　a　dc　servomotor　positioning　system.　Simulation　and　experimental　results　show　that　the　new　method　can　achieve　better　transient　performance　and　steady-state　accuracy　in　set-point　tracking　and　is　more　robust　to　amplitude　variations　of　disturbance/set　point　compared　to　integration-based　control.　©　2007　IEEE.