Considering the uncertainties, such as errors in modeling and external disturbances, existed in nonlinear systems, a nonlinear disturbance observer (NDO) is used to estimate the uncertainties, and then its output is integrated with the output of Trajectory Linearization Control (TLC), as a new control law to cancel the unknown term. So, nonlinear systems will attain to excellent performance. Herbst maneuver is simulated for an aircraft mathematics model using this method, and for comparison, the herbst maneuver is also simulated using only TLC controller. Simulation results show that the method is effective and has better robustness.