PID controllers are the most common controller type in industry. However, methods for optimal controller parameter tuning are still under development, especially in the case of robust control. One starting point for controller tuning is the usage of D-decomposition techniques, in order to identify the space of stabilizing controller parameters. In this paper, a novel approach for exact calculation of all stabilizing controller parameters which explicitly considers parameter uncertainties is introduced. Based on previous studies, the focus is expanded to multilinear parameter uncertainties. The usage of the proposed method is demonstrated in the prominent case study of robust control.