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This paper addresses the problem of robust control for a class of nonlinear dynamical systems in the discrete-continuous time domain. We deal with nonlinear controllable models described by ordinary differential equations in the presence of bounded uncertainties. The full model of the control system under consideration is completed by linear sampling-type outputs. The linear feedback control design proposed in this manuscript is created by application of an extended version of the conventional invariant ellipsoid method. Moreover, we also apply some specific Lyapunov-based "descriptor techniques" from the stability theory of delayed systems. The above combination of the modified invariant ellipsoid approach and descriptor method make it possible to obtain the robustness of the designed control and to establish some well known stability properties of dynamical systems under consideration. Finally, the applicability of the proposed method is illustrated by a computational example. A brief discussion on the main implementation issue is also included.