This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.