In this paper the problem of control of continuous-time systems subject to input saturation and external disturbance is studied. The key idea is to construct a disturbance observer to enable the design of an efficient anti-disturbance controller. The new disturbance observer based controller can ensure asymptotical stability of the resulting closed-loop system. Moreover, an estimation of the domain of attraction is provided, and it can also be maximized by using an iterative algorithm. The theoretical findings are validated by a numerical example.
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