The robust output tracking control problem is considered for single-input single-output plants with multiple operating points and with both parametric and unstructured uncertainties (i.e. interval parameter uncertainties and norm-bounded unmodelled dynamics). The parametric uncertainties can involve parameter perturbations as well as degree variations. The plant with uncertainties is assumed to be of minimum phase, but is not required to have a fixed number of unstable poles. A new method is presented by which a linear time-invariant robust controller is designed in two steps: first, a nominal controller is designed to get exact output tracking for the nominal plant; then, a robust compensator is added to achieve robust properties. It is shown that robust stability, robust static state property, robust transient property and robust tracking property can be achieved simultaneously. A computationally tractable design procedure is presented. A salient feature of our results, shown in the present paper, is that we can tell the users how to tune on-line the parameters of the controller with the proposed structure.