This paper propose a robust control method to achieve a desired system performance in spite of system uncertainty and disturbance uncertainty. The procedures of the robust controller based on QFT(Quantitative Feedback Theory) make template, bound and loop shaping which are considered by system parameter variations and performance specifications. To prove the efficiency, the designed controller is applied for an inverted pendulum which is so sensitive to the parameter variation and has a highly nonlinear and unstable characteristics. It is shown that the simulation and experimental results from the proposed controller are efficient in robustness of parameter variation and disturbance.