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Initially, a novel predictive observer is proposed to anticipate future information related to both disturbances and system states. By integrating these predictions, a composite controller is constructed, comprising feedback and feedforward compensation. A systematic approach for selecting control parameters is presented to facilitate easy implementation. The theoretical analysis demonstrates that as long as appropriate parameters are selected, the predictive observer can accurately predict both disturbances and system states, and the system\u2019s output can asymptotically converge to zero. 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