This paper is devoted to the evaluation of sampling interval providing robust exponential stability of nonlinear system with sector-bounded nonlinearities. It extends our previous results (R. E. Seifullaev, A. L. Fradkov. Sampled-data control of nonlinear oscillations based on LMIs and Fridman’s method. In 5th IFAC International Workshop on Periodic Control Systems, 95-100. Caen, France. 2013). The proposed approach exploits E. Fridman’s method for linear systems based on a general time-dependent Lyapunov– Krasovskii functional.With classical results of V. A. Yakubovich about S-procedure, the problem is reduced to feasibility analysis of linear matrix inequalities. The results are illustrated by example: the pendulum system with friction and sector-bounded multiple nonlinearities.