In this paper we study a class of continues nonlinear control systems associated with the specific sampled outputs. The dynamical model under consideration is described by ordinary differential equations in the presence of additive bounded uncertainties. We propose a linear-type control design procedure that guarantee robustness property of the closed-loop realization. The proposed design method incorporates a concept of the dynamic feedback controller and a newly elaborated extended version of the classic invariant ellipsoid method. The applicability of the proposed control design scheme is illustrated by a computational example. A brief discussion on the numerical issues is also included. © 2012 IEEE.