In this paper, we extend a recently developed method (Zhong and Rees, 2004, “Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst., Meas., Control, 126(4), pp. 905–910), for controlling uncertain linear systems using an uncertainty and disturbance estimator, to uncertain nonlinear systems. Further the control proposed in this paper removes the drawback of large initial control underlying the method. The stability of the overall system of the plant and the estimator is proved. The efficacy of the method is illustrated by simulation.

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