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The problem of state estimation and regulation in the presence of uncertainty and low frequency disturbance is dealt with. A controller design method, based on input-output histories as well as a nominal model to attenuate the effects of the uncertainty and the disturbance is proposed. The state vector is predicted recursively using a past state vector, and a past input vector. By this property, the state vector can be assigned to the specified value precisely, even in the presence of the uncertainty and low frequency disturbance. To demonstrate the effectiveness of the proposed controller, a design methodology is illustrated through application on a spacecraft.