Incorrect FTSC

Using FTSC with FTSO, we can settle the output to the setpoint with finite steps. However if the model of system has some deviation from
actual system, FTSC does not only oscillate around setpoint, but also it may diverge. How can we suppress such divergence under the incorrect model of system? I thought it might be effective to introduce new feedback affected by observer output for that purpose. For details, please visit:
http://139.134.5.123/tiddler2/digital/digital.htm
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