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A robust output tracking control design for a linear brushless DC motor with modelling uncertainties is presented. Frequency-domain design specifications directly related to the mixed sensitivity function and control energy consumption are imposed to ensure stability and performance robustness. A generalised two-parameter PID control framework is developed via an evolution algorithm, which searches the available solutions over a certain specified domain. The proposed design paradigm is intuitive and practical in the sense that it offers an effective way to implement simple but robust solutions covering a wide range of plant perturbation and, in addition, provides excellent tracking performance without resorting to excessive control. Experimental and numerical studies have been presented to confirm the proposed control design.