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A new approach to the design of nonlinear disturbance observers for a class of nonlinear systems described by inputoutput differential equations is presented in this paper. In contrast with established forms of nonlinear disturbance observers, the most important feature of this new type of disturbance observer is that only measurement of the output variable is required, rather than the state variables. An inverse simulation model is first constructed based on knowledge of the structure anddoi:10.1109/tie.2019.2898585 fatcat:6grbikycqbdl7ebwo7m4luanee