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This paper investigates the learning and control problem of sampled‐data systems with only output measurements. A unified approach is presented by integrating the sampled‐data observer and deterministic learning. First, an adaptive radial basis function network (RBFN) learning controller with a sampled‐data observer is designed to track a recurrent reference model. Along the trajectory estimated by the observer, it is proven that the RBFN weights can exponentially converge to their ideal values with the satisfaction of a persistent excitation (PE) condition and the closed‐loop dynamics can be accurately learned during the output‐feedback process. Second, by using the learning results, a knowledge‐based output‐feedback controller is developed to improve the tracking performance. Further research shows that choosing appropriate parameters for the observer and RBFN can guarantee learning and control performance. The significance of the proposed approach is that the closed‐loop dynamics of the output‐feedback process can be accurately learned and further utilized to improve control performance. Simulation studies indicate the effectiveness and advantages of the learning control approach. By combining deterministic learning and sampled‐data observer, an adaptive radial basis function network (RBFN) controller is designed to achieve the tracking of a recurrent reference model, which leads to the satisfaction of the PE condition. During the stable tracking process, closed‐loop dynamics can be accurately identified/learned by the RBFN under the PE condition. Based on the learned dynamics, a new knowledge‐based controller is developed for another output feedback task, which reduces computational complexity and improves tracking performance. [ABSTRACT FROM AUTHOR]