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However, unknown external force disturbance, measurement noise, and other uncertain nonlinearities widely exist in electro-hydraulic servo systems, which severely degrade the system performance. To handle this problem, a sliding-mode controller based on K-observer with nonlinear disturbance observer is proposed for electro-hydraulic position systems in this article. The nonlinear disturbance observer is to estimate and eliminate the time-varying external force disturbance. The sliding-mode controller based on K-observer is to reach low gain observation of states and improve the system performance by reducing the chattering of the sliding-mode algorithm. The proposed controller is proved to be stable by the Lyapunov stability criterion. Comparative experiments support that the controller has high precision and strong robustness.<\/jats:p>","DOI":"10.1177\/09596518231194015","type":"journal-article","created":{"date-parts":[[2023,9,5]],"date-time":"2023-09-05T06:02:15Z","timestamp":1693893735000},"page":"213-226","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Sliding-mode control of electro-hydraulic positioning tracking system combining K-observer and nonlinear disturbance observer"],"prefix":"10.1177","volume":"238","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2704-6135","authenticated-orcid":false,"given":"Yicheng","family":"Gao","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, 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