But sometimes the command fails and emits the following error message.
the kernel failed to rescan the partition table: 16
cannot label 'sdc': try using parted(8) and then provide a specific slice: -1
As described in ArchWiki, that is because udev fails to create the device file within 1 second.
The ArchWiki proposes to slow down the disk by parallel read.
I found another way which is much stable.
strace command traps syscalls and dump the parameters of syscalls to stderr.
cstream command lets you limit throughput.
So limit the stderr by cstream slows down the zpool.
strace zpool create /dev/sda /dev/sdb tank |& cstream -b 64 -t 2048
If the command is too slow, then increase the throughput to 8K or 16K.