基于内采样特性讨论噪声强度不确定的连续系统的鲁棒采样估计问题，主要目的是为这类不确定系统设计离散滤波器，使每个状态的估计误差方差不大于预先指定值，从而获得满意的稳态滤波特性．文中首先研究了仅有模型噪声强度不确定时的情形，随后说明当测量噪声强度不确定时可用同样方法进行研究．最后用数值例子说明了本文设计方法的有用性和有效性 Based on the characteristics of the internal sampling, we discuss the robust sampling estimation problem for continuous systems with uncertain noise intensity. The main purpose is to design the discrete filter for such uncertain systems so that the variance of the estimated error of each state is not greater than the pre-specified value. Steady-state filter characteristics. In this paper, we firstly study the situation when only the model noise intensity is uncertain, then we can use the same method to study when the measurement noise intensity is uncertain. Finally, numerical examples are given to illustrate the usefulness and effectiveness of this design method