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This paper presents studies on a robust adaptive output feedback stabilisation for a class of nonlinear systems, which is subjected to parametric uncertainties and disturbances. The disturbances are considered to be general, i.e. both the matched and unmatched ones are present. A novel robust adaptive control is developed for this problem. A technique is employed to avoid the difficulty in handling the nonlinear gain functions associated with the disturbances. For this, a new Lemma is obtained to handle the nonlinear functions that simplify the controller derivation steps. The unknown parameters and disturbances are tackled by deriving the tuning functions using a backstepping design. Finally, simulation is carried out to validate and show the effectiveness of the proposed robust controller. [ABSTRACT FROM AUTHOR]