In this paper, we provide an alternative method for solving the more general servomechanism problem. The new approach based on designing a simple structure of a dynamic output feedback controller to achieve asymptotic tracking, disturbance rejection and pole assignment in linear time-invariant multivariable control systems. In addition, the resulting dynamic compensator is robust in the sense that asymptotic regulation take place for some or all disturbances and reference signals independent of any nondestabilizing perturbations in the system parameters. The main results of this paper are illustrated by an example.

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