Actuator saturation phenomenon often exists in the actual control system, which could destroy the closed-loop performance of the system and even lead to unstable behavior. Our main contribution is to provide an antiwindup recursive dynamic surface control (RDSC) for a discrete-time system with an unknown state and actuator saturation. The fuzzy compensator is added to perform as an active disturbance rejection term in the feedforward path to avoid windup caused by input saturation. To construct

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... output feedback control, the system is transformed into the form of pure-feedback and an improved HOSM observer is designed to carry out future output prediction. Based on which RDSC is synthesized, only one fuzzy logic system (FLS) is used and the controller singularity is completely avoided. In addition, the simulation and numeral examples using a continuous stirred tank reactors (CSTRs) system with actuator saturation are provided and the results show that the strategy owns good robustness and effectively compensates for the disturbance caused by actuator saturation in the presence of a discrete-time system with an unmeasurable state.