Unmanned aerial vehicles are famous for their wide range of applications. In D3 (Dirty-Dull-Dangerous) UAV applications flight conditions may vary on large scale. External disturbances like atmospheric turbulences and gusts may be subjected to UAV, and as a result, UAV flight mission might be conducted with high level of the degradation of the accuracy. Sensor noises are also present, and theirs negligence might lead to improper dynamic performances of the closed loop control systems. Uncertainties of the control systems being structured or unstructured may tend the closed loop control system to stability bounds. In worst case, uncertainties may destabilize closed loop control systems. The purpose of the author is to present a robust controller design method called H2-optimal design ensuring stability of the closed loop control systems with simultaneous dynamic performances predefined for the closed loop control system.