The paper deals with robust output feedback continuous control design for time-continuous linear plants under parametric uncertainties and external bounded disturbance. A parallel reference model (auxiliary loop) to the plant is used for obtaining the uncertainties acting on the plant. The proposed algorithm tracks the output of the plant to the reference output with the required accuracy. We apply the algorithm to the control of lateral movement of an aircraft under parametric and external disturbances. We also compare the proposed algorithm with the H control and speed-gradient algorithm. The simulation results illustrate the efficiency and robustness of the suggested control system.