A method, apparatus, article of manufacture, and a memory structure for designing a robust controller. The method comprises the steps of determining a plant model G of the system dynamics; bounding system dynamics unmodeled by the plant model G of the system dynamics by a weighting function W; applying a transform to an augmented plant model T having the plant model G and the weighting function W; defining a controller {tilde over (F)} from the transformed plant model T; and applying an inverse of the transform to the controller {tilde over (F)} defined from the transformed plant model and the weighting function W to generate the robust controller F.