Standard mu/k(m)-synthesis approaches [1], [7] cannot handle specifications on closed-loop time responses in a direct manner. On the other hand, constrained H-infinity optimization [5] handles explicitly time-domain specifications in an H-infinity-optimal control setting but is conservative with respect to structured model uncertainty. In this paper, the authors propose a constrained mu/k(m)-synthesis approach to design robust controllers for uncertain systems with time-domain constraints and structured real/complex model uncertainties, They derive an algorithm based on an iteration process involving a search for multipliers and the solution of scaled constrained H-infinity-optimization problems.