This technical note proposes a discrete-time adaptive controller for the control of sampled-data systems. The design is inspired from the Adaptive Posicast Controller (APC) which was designed for time-delay systems in continuous time. Due to the performance degradation caused by digital approximation of continuous laws, together with the problem of assuming time-delays as integer multiples of sampling intervals, the benefits of APC could not be fully realized. In this technical note, these approximations/assumptions are eliminated. In addition, a disturbance observer is incorporated into the controller design which minimizes the effect of disturbances on the system. Extension to the case of uncertain input time-delay is also presented. The proposed approach is verified in simulation studies.