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The article proposes a robust control approach based on self-organizing Hermite-polynomial-based neural network disturbance observer for a class of non-affine nonlinear systems with input saturation, state constraint, and unknown compound disturbance. Using Taylor series expansion, a hyperbolic tangent function, the non-affine nonlinear system with input saturation is transformed into time-varying affine system without input saturation, which can reduce step n   +  1 of the backstepping technique compared with conventional method. Next, a self-organizing Hermite-polynomial-based neural network disturbance observer is proposed to estimate the compound disturbance online. Then, the auxiliary systems are designed to solve state constraint for subsystems, and hyperbolic tangent function is used to approximate the saturated control input. Simulation results proved the effectiveness of the proposed control scheme.