A time-domain algorithm is proposed to control interval plants described by impulse response functions. The closed-loop control actions are determined based on the interval ranges of the model parameters. Robust steady-state performance in tracking a given set-point can be guaranteed if the sign of the static gain is certain despite possible open-loop overshooting, delay, and nonminimum phase of the interval plants. Simulation examples are given to illustrate the performance. An application example in welding process control is also included.