This paper is concerned with the problem of determining the feedback gains of robust tracking control systems. In recent years, many papers have treated the robust tracking control problem, but the transient characteristics of the response have hardly been taken into consideration. In this paper, therefore, a numerical method for determining the feedback gains is proposed paying particular attention to the transient characteristics. Moreover, we make use of the output feedback control law since the only output may be measured in some real systems. The method is mainly based on the eigenvalue assignment, eigenvalue and eigenvector sensitivities. An example shows that the proposed method is effective and gives considerably good transient characteristics for all values of uncertain parameter.