This paper introduces a robust and structured controller synthesis method dealing with uncertain system dynamics. Postulating time-invariant and bounded errors on both system inner parameters and external disturbances this method provides formal proof of compliance to a given set of stability and performance criteria. This guarantee is obtained through the interval analysis of the closed-loop system which encompasses any possible time-domain and frequency-domain variations. Here this method is applied to the robust frequency attenuation, seen as H ∞ criteria, and stability for depth control of a submarine. This paper then emphasizes the synthesis method from model and regulation problem definitions to synthesis implementation and discuss its results.