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The problem of virtual sensor design for nonlinear systems under the disturbance is investigated. Two different mathematical techniques are used to solve the problem: the algebra of functions and the logic-dynamic approach. The first one allows obtaining a general solution while the second one produces a solution for nonlinear systems by linear algebra methods. The virtual sensors are designed to be insensitive to the disturbance based on invariant functions. They estimate the prescribed function of the original system state vector. The practical example illustrates theoretical results.