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.