The integration of robust control and quality control is introduced. Experimental design using orthogonal arrays is an effective approach to directly considering and achieving time domain specifications, which is difficult for approaches based on frequency domain synthesis such as norm-bounded optimization schemes. In addition, by exploiting the analysis of variance (ANOVA), the interrelation between specification and each design parameter can be clearly studied. The proposed approach is shown to provide controllers with the performance-robustness property which is exactly the design goal of mu synthesis. Systematic procedures for this quality-oriented control design are outlined. A practical example of satellite attitude control is demonstrated to show that the experiment-aided methodology can help to find the parameters of controllers to meet robust-stability and robust-performance requirements.