Control theory is concerned with principles, techniques, and tools for analyzing and designing control systems. Often, these analysis and design procedures employ mathematical models of the system to be controlled based on relevant principles and laws from natural sciences. However, due to simplifying approximations and lack of complete knowledge, such mathematical models include errors and inaccuracies. Errors also arise due to inherent variability in manufacturing processes. Robust control is a subfield of control theory that addresses analysis and design processes and tools that can systematically and explicitly deal with modeling errors.