In this paper we propose a design procedure of loop-shaping two-degree-of-freedom H$infty$ digital controller for sampled-data system. We extend the continuous time loop-shaping two-degree-of-freedom H$infty$ control problem to sampled-data system. The configuration of generalized plant is modified for sampled-data system. And then using continuous lifting we obtain the digital controller. In the final stage of loop-shaping procedure the problem of absorbing weighting functions is discussed. We summarize this study to the design procedure and illustrate the application for an inverted pendulum on the cart.