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In this article, the observation and control of a general class of nonlinear systems within the full linearization framework is constructed. Under step-by-step linearization procedures, the nonlinear control is determined by solving the implicit, nonlinear ordinary-differential-equation (ODE) while the observability matrix has full rank. Using the finite difference approach, the discrete-time output feedback control architecture is developed. Closed-loop simulations show that an unstable chemical reactor in the presence of input delay and unknown disturbances is successfully demonstrated.