The problem of how to design sampled-data controller for Han canonical form is investigated. With the stability results of approximated discrete-time model, sufficient conditions are proved to guarantee a controller semi-globally exponentially stabilizes the Han form while the controller can be designed by directly canceling the total disturbance and stabilizing a cascade-integrator. Simulations show that the sampled-data controller may have comparable performance with the controller designed with backstepping while the design procedure is much easier.