Given a Linear Time Invariant (LTI) system with parametric uncertainties, we propose a new method to synthesize a structured controller with H infinity constraints. Our approach is based on global optimization. The problem is formulated as a min-max optimization problem. A new version of a global optimization algorithm based on interval arithmetic is implemented to solve this kind of problems. To validate our approach, an example of Autonomous Underwater Vehicle (AUV) regulation to synthesize a PID controller with two H infinity constraints and two parametric uncertainties is given.