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This paper describes the application of robust H-infinity loop-shaping control to diesel engine speed control for the driven idle condition. The method was introduced in a previous paper1 and applied to an anti-oscillation strategy. For this paper, a one-degree-of-freedom controller structure (feedback only) was examined and applied to a small passenger car. Through careful implementation, the control algorithm was made to be low order and efficient, requiring only limited microprocessor resources. The robust controller design was evaluated through simulation and vehicle testing, and the performance was compared with an up-to-date tuned PI controller. The success of the robust controller was demonstrated in vehicle testing for the most challenging 3rd gear condition. The design was found to have superior performance and was eminently suitable for production.