In this paper, continuous observer is designed for a class of multi-output nonlinear systems with multirate
sampled and delayed output measurements. The time delay may be larger or less than the sampling
intervals. The sampled and delayed measurements are used to update the observer whenever they are
available. Sufficient conditions are presented to ensure global exponential stability of the observation
errors by constructing a Lyapunov–Krasovskii function. A numerical example is given to illustrate the
effectiveness of the proposed methods.