Mossahebet al.(1987) have presented a method for the design of a robust sampled regulator for uncertain systems which ensures the passivity of the controlled system and thereby also ensures its stability. The use of the passivity argument also enables stability to be guaranteed in the face of perturbations to the parameters of the system and/or the controller. The strength of the method lies in the fact that a step response model of the process to be controlled is used, so that design can be carried out based on straightforward experimental procedures. The present work offers several significant enhancements to the results described by Mossahebet al.(1987) which extend the class of systems to which the method can be applied, increase the flexibility of the design process and provide an alternative means of implementing the control law which will usually be more efficient than the original method.