**7. Conclusion**

This work introduces the MO-optimization (Multi Objective) with three performance goals in the structure of H∞ for tuning parameters of PID controller for PMDC motor. The two simultaneous competing needs of disturbance rejection along with input tracking are achieved with Robust Controller design with 2-DOF over disturbance rejection using H∞ framework. Hence, it is established that the PID controller can be tuned, and corresponding gains can be achieved for a specified constraints/ performance capability. Further, H∞ provides a better and acceptable framework for optimization.
