This paper presents challenges in the control of 5GDHC networks and proposes an approach for the robust control design of these networks. Temperatures are low and temperature differences are small in 5GDHC networks, in order to minimise heat losses in the distribution network and directly utilise low-temperature heat sources. Therefore, the robust control design of substations is crucial for stable and efficient operation of 5GDHC networks. We proposed the key steps to obtain a consistent control design that can be verified and tested prior to commissioning of the building substations and network. The design approach was elaborated in a case study in an existing neighbourhood in Haarlem, the Netherlands, constructed in the 1930s to 1970s. This neighbourhood will become independent of natural gas using PVT-rooftop panels, individual heat pumps (HP), a 2-pipe, bi-directional energy flow network operating at ultra-low temperatures and ATES system as a seasonal and daily storage facility.