Emilta Friska Juniar and Tahiyatul Asfihani (2026) “Disturbance Estimation for Unmanned Surface Vehicles using a Nonlinear Disturbance Observer”, (IJCSAM) International Journal of Computing Science and Applied Mathematics, 12(1), pp. 1–6. doi: 10.12962/j24775401.ijcsam.v12i1.3489.