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The frequency shaping method byH\u221econtrol is suitable for the problem. But we can\u0027t locate closed-loop poles in preferable region even if we use the robust stability-degree assignment method, because poles of weighting functions of the generalized system become undetectable modes. In order to overcome this problem, we use extendedH\u221econtrol combined with the robust stability-degree assignment method. By the method, we can design a controller that provides desirable frequency shaping and preferable closed-loop poles location at the same time. 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