In this paper, we present a disturbance observer-based point of common connection voltage-modulated direct power control (PCCVM-DPC) system, which increases the robustness of the PCCVM-DPC system. First, the mathematical analysis of the disturbances for the step-up transformer’s nonlinearity, the grid voltage harmonics, and the parameter uncertainties is presented. By analyzing the disturbance terms of the PCCVM-DPC system, we present the disturbance observer (DOB) for the PCCVM-DPC system. To assess the efficacy of our approach, we perform comparative studies of the PCCVM-DPC without DOB and PCCVM-DPC with DOB by constructing the simulation environment based on the commercial step-up transformer and ESS inverter datasheet. We have validated that the active and reactive power control performance of the PCCVM-DPC with DOB outperforms the PCCVM-DPC without DOB from the observation that the current total harmonic distortion reduced by more than 40% compared to the PCCVM-DPC without the DOB.