In　this　paper,　a　robust　version　of　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　treat　the　unknown　disturbance　as　an　extended　state　variable　to　be　augmented　with　the　plant　model,　and　then　design　an　extended　state　observer　to　estimate　both　the　states　and　the　disturbance,　and　a　disturbance　compensation　mechanism　is　incorporated　into　the　framework　of　the　original　CNF　control,　so　as　to　alleviate　the　steady　state　bias　due　to　disturbances,　while　retaining　the　fast　transient　performance　of　the　CNF　control.　There　is　no　explicit　integration　action　introduced　in　this　method,　thus　the　headache　of　integrator　windup　will　not　occur.　The　new　control　method　is　then　applied　to　design　a　two-inertia　servo　drive　system.　Simulation　studies　are　conducted　to　verify　that　this　control　method　can　achieve　good　transient　performance　and　steady-state　accuracy　in　set-point　tracking　and　is　more　robust　to　amplitude　variations　of　disturbance/set-point.　©　2014　TCCT,　CAA.