In some control designs the various performance requirements can be very stringent, while the specifications in the frequency and time domains can be mutually conflicting. A robust controller design is presented for single-input single-output plants such that the closed-loop system becomes critical in the sense that it satisfies prescribed absolute upper bounds of the output tracking error. It also exhibits robust stability and robust performance in terms of model matching for the prescribed gain-bandwidth product and input energy and acceptably small energy of the filtered noise.