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Particularly, the proposed approach addresses the dead-zone issue, a non-smooth nonlinearity affiliated with control input that significantly increases controller design difficulties. A novel nonlinear disturbance observer (NDO) is developed, which relaxes the strong assumption in conventional NDO design that disturbances should be constants or varying with slow rates. After that, a special integral sliding mode controller (ISMC) is combined with the NDO to achieve asymptotic convergence of system states. 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