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Anti-disturbance control and estimation problem is introduced for a class of nonlinear system subject to disturbances. The adaptive disturbance observers are constructed separately from the controller design to estimate the disturbance with partial known information. By integrating disturbance-observer-based control with fuzzy control, composite DOBC and robust adaptive fuzzy control scheme is presented for a class of nonlinear system with unknown nonlinear dynamics. Simulations for a flight control system are given to demonstrate the effectiveness of the results compared with the previous schemes.