Abstract: The model perturbation and system disturbance of a drill mechanism should be considered in the complex lunar environment. Robustness of a sampling controller plays a critical role during the sample process. The nominal control model is established for a class of rotation and pulling compound mechanism， and the model perturbation and system disturbance to control model are analyzed. The approach of linear matrix inequality is applied to design the robust state feedback controller. Simulation results show that the controller possesses robustness and disturbance rejection ability against the bounded model perturbation and random system disturbance.