A method for automated optimisation of a servo control of a real mechatronic system controlled by a setpoint Y c (t), said servo control comprising a linear corrector C in a feedback loop including the mechatronic system G, the corrector being defined by correction parameters, the real mechatronic system G having been modelled by a transfer function, called nominal transfer function G o, between an input control U(t) and an output variable Y(t) measured for servo control purpose, the servo control being characterized by a robustness with respect to the structured and non-structured uncertainties of the mechatronic system and a performance that can be determined, in which method, using the nominal transfer function, corrector parameters are determined, which ensure, at the time of control, a satisfying compromise between performance and robustness, the robustness of the loop applied to the nominal transfer function being dependent on a module margin MMC, the performance of the loop applied to the nominal transfer function being dependant on a delay margin MRC, wherein, by an iterative procedure, the most performant corrector, called optimum corrector, is determined among the correctors having a satisfying compromise between performance and robustness, characterized in that said iterative procedure consists in varying a current value of the delay margin MRC, for a same module margin MMC, and testing individually the corrector(s) having a delay margin MRC corresponding to the current value on the servo control of the real mechatronic system and injecting into the loop an excitation signal w(t) and evaluating two effective indicators based on at least an effective static margin M st and an effective dynamic margin M dyn, the effective static margin M st characterizing the global robustness of the loop with respect to the structured and non-structured uncertainties, and the effective dynamic margin M dyn characterizing the robustness of the loop with respect to the non-structured uncertainties, the two effective indicators being: - an effective static indicator Ind s that is the effective static margin M st and - an effective dynamic indicator Ind D that is a direct function of the effective dynamic margin M dyn, the iterative procedure being stopped on a corrector, which is then the optimum corrector, when the two effective indicators Ind s and Ind D become higher than respective thresholds S s and S D determined for a current value of nominal delay margin MRC that is the lowest possible, for a same level of nominal module margin MMC, and hence for the highest performance. wherein, by an iterative procedure, the most performant corrector, called optimum corrector, is determined among the correctors having a satisfying compromise between performance and robustness, characterized in that said iterative procedure consists in varying a current value of the delay margin MRC, for a same module margin MMC, and testing individually the corrector(s) having a delay margin MRC corresponding to the current value on the servo control of the real mechatronic system and injecting into the loop an excitation signal w(t) and evaluating two effective indicators based on at least an effective static margin M st and an effective dynamic margin M dyn, the effective static margin M st characterizing the global robustness of the loop with respect to the structured and non-structured uncertainties, and the effective dynamic margin M dyn characterizing the robustness of the loop with respect to the non-structured uncertainties, the two effective indicators being: - an effective static indicator Ind s that is the effective static margin M st and - an effective dynamic indicator Ind D that is a direct function of the effective dynamic margin M dyn, - an effective static indicator Ind s that is the effective static margin M st and - an effective dynamic indicator Ind D that is a direct function of the effective dynamic margin M dyn, the iterative procedure being stopped on a corrector, which is then the optimum corrector, when the two effective indicators Ind s and Ind D become higher than respective thresholds S s and S D determined for a current value of nominal delay margin MRC that is the lowest possible, for a same level of nominal module margin MMC, and hence for the highest performance.