Abstract: The traditional PID parameters tuning methods do not use plant's uncertain information.So,if the controlled plant's dynamic characheristics change largely,the control performance will become low.In this paper,the robust parameters tuning method for PID controller based on MiniMax ruler and EISE index is presented.Scope partition is used to overcome the local minimal value of SQP.Simulation shows that although the controlled plant's dynamic characheristics change largely,the robust PID controller can keep the control performance good.