Two main approaches to robust control are the parametric and frequency domain approaches. The aim of this paper which starts with tutorial sections on both approaches is to compare and establish links between the parameter space method of the parametric approach and frequency domain methods, with special emphasis on the structured singular value (SSV) method. In an effort to combine the useful properties of both approaches, two SSV minimization based design techniques in controller parameter space are presented here. A simple interpretation of real SSV in plant parameter space and its further implications for analysis and design are also presented. Copyright (C) 2001 John Wiley Sons, Ltd.