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This paper is dedicated to dealing with the sampled measurement-based robust impulsive filter design problem for delayed Lur'e implicit hybrid systems via free-weighting matrix approach. Stochastic admissibility and H ∞ performance index for the implicit impulsive filtering error system are ensured based on a holistic impulse-time-dependent Lyapunov–Krasovskii functional, which embodies the impulse instants, time-varying delays and Markovian jump modes. The effect of sampled measurement output on the impulsive filter is considered, where the sampling moments are corresponding to the impulse instants. By applying the improved free-weighting matrix technique, the derivative of time-varying delay in implicit system states is no longer subject to the least upper bound 1. A set of linear matrix inequalities are applied to construe designing criterion for the desired mode-dependent implicit impulsive filter. The practicality of the developed approach is verified by nonlinear RC circuit. [ABSTRACT FROM AUTHOR]