A　discrete-time　composite　nonlinear　control　scheme　is　proposed　to　achieve　fast　and　accurate　set-point　tracking　for　servo　systems　subject　to　disturbances　and　actuator　saturation.　The　control　scheme　incorporated　a　mechnism　of　disturbance　estimation　cum　compensation　into　the　framework　of　composite　nonlinear　feedback　(CNF)　control.　The　CNF　control　law　consisted　of　a　linear　feedback　part　for　achieving　fast　response　and　a　nonlinear　feedback　part　for　suppressing　the　overshoot,　so　as　to　improve　the　transient　performance.　A　reduced-order　observer　was　adopted　to　estimate　the　unmeasurable　state　variables　and　unknown　constant　disturbance,　and　then　used　for　compensation　to　remove　the　steady　state　error.　Closed-loop　stability　with　the　proposed　control　scheme　was　analyzed　theoretically.　The　control　scheme　was　applied　to　a　servo　system　modeled　by　a　double　integrator.　Simulations　were　carried　out,　and　a　comparison　was　made　with　a　previous　CNF　scheme,　which　resorted　to　integral　control　for　rejecting　disturbance.　The　results　confirm　that　the　proposed　control　scheme　has　a　better　performance　robustness　in　set-point　tracking　tasks.