In this paper, we propose design method of controller for sampled-data systems with variable sampling rate. First, we give design method for both H-2 and H-infinity controller. For H-2 control, performance of the system is introduced according to a standard sampled-data setting. A discrete-time H-2 control problem is employed for solving the original problem. Its solvability condition is then established as a parameter-dependent linear matrix inequality. A probabilistic approach is taken for coping with the parameter-dependency. H-infinity controller is designed by almost the same manner. Applying both results, we have design method for multi-objective control.