This paper deals with the problem of robust tracking and disturbance rejection for a linear time-invariant system where the uncertainty of the system is represented in a structured farm and the output to be controlled may be different from the measurement output. First, the problem is considered in a rather classical setting in that the required property of tracking and disturbance rejection can be attained as long as the resulting closed-loop system remains stable. Conditions for solvability of the problem are given and two algorithms are presented for designing controllers having the robust tracking and disturbance rejection property. Second, the problem of robust output regulation with robust stability is formulated as one of finding a controller such that the resulting closed-loop system satisfies an additional requirement of robust stability and thus the output regulation property can be maintained for all perturbations of uncertain parameters within a prescribed set. A procedure based on a high gain observer approach is proposed to solve this problem.