We present an offline numerical algorithm to generate a discontinuous feedback law to robustly regulate the origin of a continuous-time homogeneous system through sample and hold. The proposed feedback comes out of the solution of an infinite horizon optimization problem in discrete time and is in the form of a look-up table. We show that when applied to either chained systems or systems in power form the algorithm results in a closed loop whose origin is globally exponentially stable. (c) 2005 Elsevier Ltd. All rights reserved.