A dynamic anti-windup compensator design method is proposed for a class of nonlinear systems subject to actuator saturation and external disturbance based on extended state observers(ESOs). Uncertainty and external disturbance of the system are treated as extended state, and the corresponding ESO is designed to estimate the total disturbance. Then, total disturbance is compensated in the controller by introducing the estimate of extend state, and a dynamic anti-windup compensator design method is presented. The problem of parameter tuning of the controller, observer and dynamic anti-windup compensator is translated into the problem of optimization with linear matrix inequalities constraint, which maximizes the estimate of domain of attraction. A numerical example is given to illuztrate the effectiveness of the proposed method.