Uncertainties, inevitable in nature, can be classified as probability based and interval based uncertainties in terms of its representations. Corresponding optimization strategies have been proposed to deal with these two types of uncertainties. It is more likely that both types of uncertainty can occur in one single problem, and thus, it is trivial to treat all uncertainties the same. A novel formulation for reliability-based design optimization (RBDO) under mixed probability and interval uncertainties is proposed in this paper, in which the objective variation is concerned. Furthermore, it is proposed to efficiently solve the worst-case parameter resulted from the interval uncertainty by utilizing the Utopian solution presented in a single-looped robust optimization (RO) approach where the inner optimization can be solved by matrix operations. The remaining problem can be solved utilizing any existing RBDO method. This work applies the performance measure approach to search for the most probable failure point (MPFP) and sequential quadratic programing (SQP) to solve the entire problem. One engineering example is given to demonstrate the applicability of the proposed approach and to illustrate the necessity to consider the objective robustness under certain circumstances.